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--- robots:computer:talos:software [2015/01/12 14:24]
david
+++ robots:computer:talos:software [2021/08/14 04:21] (current)
@@ Line 5: / Line 5: @@
   * Robot Software (ROS) http://ros.org
   * parts of the software are based on [[robotsoftware:frobomind:welcome|FroboMind]]
-**visualisation tool:**
-{{:robots:computer:talos:rviz_visio_5.png|}}
-**Node graph:**
+**Visualisation tool (Example):**
-{{ :robots:computer:talos:node_graph.png|}}
+{{:robots:computer:talos:rviz_visio_5.png|}}
-**rough Programming structure**
+**General Programming structure**
-  * using laserscanner for obstacle avoidance
+  * Using laserscanner for obstacle avoidance
   * IMU set orientation angle
-  * absolute position gets evaluated by the signals of IMU, RTK-GPS and wheel encoders
+  * Absolute position gets evaluated by the signals of IMU, RTK-GPS and wheel encoders
   * 3 Layer architecture
      * Deterministic path planning
-     * security layer
+     * Security layer
-     * obstacle avoidance
+     * Obstacle avoidance
 **Launch files:**
-as typical in the ros environment, the whole system parameters can be defined by launch files.
+as typical in the ROS environment, the whole system parameters can be defined by launch files.
 At the current status of the TALOS robot every Sensor-System got its own launch file. A launch file
 defines the running programms (nodes) and the neccessary starting parameters for the device/programm
@@ Line 41: / Line 39: @@
   * Motorcontrollers (actor)
   * Joystick (as command node)
+In each of this launch files start several programes (nodes) and set the parameters for them:
+<launch>
+	<node pkg="joy" type="joy_node" name="joy_node" output="screen">
+			<param name="joy_node/dev" value="/dev/input/js0"/>
+	</node>
+	<node pkg="talos" type="joystick_core" name="joy" output="screen">
+			<param name="joy_sub" value="/joy"/>
+			<param name="cmd_vel" value="/cmd_vel_joy"/>
+			<param name="cmd_vel_frame" value="/robot_frame"/>
+	</node>
+</launch>
+in this example, the joystickdriver gets started (pkg="joy") and the port gets defined.
+The second node (pkg="talos") is responsible for providing the joystickvalues at defined variables, so that other
+programmes can use the values later.
+For autonomous mode there are a lot of more different nodes neccessary. The rough programming structure gets explained here:
+ [[robots:computer:talos:Software:Program structure|Program structure]]

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