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robots:computer:talos:software:program_structure
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| Both sides previous revision Previous revision Next revision | Previous revision | ||
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robots:computer:talos:software:program_structure [2015/01/12 15:11] david |
robots:computer:talos:software:program_structure [2021/08/14 04:21] (current) |
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| Line 15: | Line 15: | ||
| * start_global_positioning.launch | * start_global_positioning.launch | ||
| - | Launch files for starting the deterministic | + | Launch files for starting the basic control |
| * start_deterministic_control.launch | * start_deterministic_control.launch | ||
| - | |||
| - | Here we can also define a file with absolute waypoints | ||
| - | |||
| - | Launch files for starting the adaptive obstacle avoidance: | ||
| * start_adaptive_control.launch | * start_adaptive_control.launch | ||
| - | Launch | + | Launch |
| * start_decision_layer.launch | * start_decision_layer.launch | ||
| - | |||
| - | everything what have to do with the visualisation can be started by runing the file: | ||
| * start_visualisation.launch | * start_visualisation.launch | ||
| Under normal circumstances all launchfiles can be started with one command in a terminal: | Under normal circumstances all launchfiles can be started with one command in a terminal: | ||
| - | //roslaunch talos start_navigation.launch// | + | < |
| a detailed graph of all programmed nodes can be found in the next picture of the overall node graph... | a detailed graph of all programmed nodes can be found in the next picture of the overall node graph... | ||
| Line 54: | Line 48: | ||
| typically these information can be provided by a .txt or .xml file, because of the easy way of programming and | typically these information can be provided by a .txt or .xml file, because of the easy way of programming and | ||
| uncomplicated change for different programmes. | uncomplicated change for different programmes. | ||
| + | |||
| + | Example mission file: | ||
| + | |||
| + | < | ||
| + | < | ||
| + | utme=" | ||
| + | utmn=" | ||
| + | comment=" | ||
| + | /> | ||
| + | <point | ||
| + | utme=" | ||
| + | utmn=" | ||
| + | speed=" | ||
| + | comment=" | ||
| + | /> | ||
| + | <point | ||
| + | utme=" | ||
| + | utmn=" | ||
| + | wait=" | ||
| + | comment=" | ||
| + | /> | ||
| + | <point | ||
| + | utme=" | ||
| + | utmn=" | ||
| + | comment=" | ||
| + | /> | ||
| + | <point | ||
| + | utme=" | ||
| + | utmn=" | ||
| + | wait_until_task_ready=" | ||
| + | comment=" | ||
| + | /> | ||
| + | </ | ||
| + | |||
| + | |||
robots/computer/talos/software/program_structure.1421071892.txt.gz · Last modified: 2021/08/14 04:20 (external edit)
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