Embedded Motion Control 2012 Group 5

Group Information

Name	Student number	Build
Fabien Bruning	-	Ubuntu 10.10 on Virtualbox in OSX 10.7
Yanick Douven	0650623	Ubuntu 10.04 dual boot with W7
Joost Groenen	0656319	Ubuntu 10.04 dual boot with W7
Luuk Mouton	0653102	Ubuntu 10.04 dual boot with W7 (Wubi)
Ramon Wijnands	0660711	Installed Ubuntu with wubi (included with the Ubuntu CD)

Planning and agreements

Planning by week

• Week 1 (April 23^th -April 29)
  • Install Ubuntu and get familiar with the operating system
• Week 2 (April 30^th - May 6^th)
  • Get the software environment up and running on the notebooks
    • ROS
    • Eclipse
    • Gazebo
  • Start with the tutorials about C++ and ROS
• Week 3 (May 7^th - May 13^th)
  • Finish the tutorials about C++ and ROS
  • Install smartsvn
  • Create a ROS package and submit it to the SVN
  • Read chapters of the book up to chapter 7
  • Make an overview of which elements of chapter 7 should be covered during the lecture
• Week 4 (May 15^th - May 20^th)
  • Make lecture slides and prepare the lecture
  • Finish the action handler
  • Finish the LRF-vision
  • Start with the strategy for the corridor competition
• Week 5 (May 21^th - May 27^th)
• Week 6 (May 28^th - June 3^rd)
• Week 7 (June 4^th - June 10^rd)
• Week 8 (June 11^th - June 17^rd)
• Week 9 (June 18^th - June 24^rd)

Agreements

• For checking out the svn and committing code, we will use Smartsvn
• Add your name to the comment when you check in
• Every Tuesday, we will work together on the project
• Every Monday, we will arrange a tutor meeting

Strategy and software description

Strategy

'Visual Status Report Because a picture is worth a thousand words.

ROS layout

After a group discussing, we decided that our provisionally software layout will be as in the figure below.

The 'webcam vision' node processes the images, produced by the RGB-camera. It will publish if it detects an arrow and in what direction the arrow points. The 'LRF vision' node processes the data of the laser range finder. It will detect corners, crossroads and the distance to local obstacles. This will also be published to strategy. The 'strategy' node will decide, based on the webcam and LRF vision, what action should be executed (stop, drive forward, drive backward, turn left or turn right) and will publish this decision to the 'action handler' node. Finally, the 'action handler' node will send a message to the jazz-robot, based on the received task and on odometry data.