Embedded Motion Control 2014 Group 11

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Group Members

Name:	Student id:	Email:
Groupmembers (email all)
Martijn Goorden	0739273	m.a.goorden@student.tue.nl
Tim Hazelaar	0747409	t.a.hazelaar@student.tue.nl
Stefan Heijmans	0738205	s.h.j.heijmans@student.tue.nl
Laurens Martens	0749215	l.p.martens@student.tue.nl
Robin de Rozario	0746242	r.d.rozario@student.tue.nl
Yuri Steinbuch	0752627	y.f.steinbuch@student.tue.nl
Tutor
Ramon Wijnands	n/a	r.w.j.wijnands@tue.nl

Time survey

The time survey of this group will be hosted on a Google drive. Therefore, all group members can easily add information and anyone can see the up-to-date information. The document can be accesed by clicking this link: time survey group 11

Planning

Week 1 (28/4 - 4/5)

Finish the tutorials, including

• installing Ubuntu,
• installing ROS
• installing SVN
• get known with C++
• get known with ROS

Week 2 (5/5 - 11/5)

Finish the tutorials (before 8/5)

• Setting up an IDE
• Setting up the PICO simulator

Comment on Gazebo Tutorial

When initializing Gazebo, one should run the gzserver comment, however, this can result in a malfunctioning program, i.e. you will get the following message: Segmentation fault (core dumped). The solution for this is to run Gazebo in debugging mode (gdb):

1. Open a terminal (ctrl-alt-t)
2. Run:

   gdb /usr/bin/gzserver

   when (gbd) is shown, type run and <enter>
3. Open another terminal (ctrl-alt-t)
4. Run:

   gdb /usr/bin/gzclient

   when (gbd) is shown, type run and <enter>

Comment on running Rviz

Simular to the Gazebo tutorial, the command rosrun pico_visualization rviz can also result in an error: Segmentation fault (core dumped). Hereto, the solution is to run Rviz in debugging mode:

1. Open a terminal (ctrl-alt-t)
2. Run:

   gdb /opt/ros/groovy/lib/rviz/rviz

   when (gbd) is shown, type run and <enter>

Moreover, in order for the camera to work properly, in the Displays view on the left change the Fixed Frame.

Corridor detection

First a horizon R is being set. Every value r(i) > R is being replaced by r(i) = -R. This can be seen in the figure below. Then the change in the radii are evaluated: dr = r(i+1) - r(i). When dr>R then r(i+1) is saved, when dr<-R then r(i) is saved.