Embedded Motion Control 2013 Group 11
Group Members
| Name: | Student id: | Email: |
| Justin Wildschut | 0617495 | j.a.wildschut@student.tue.nl |
| Jeroen Zegers | 0638172 | j.c.zegers@student.tue.nl |
| Alex Andriën | 0652965 | a.r.p.andrien@student.tue.nl |
| Talha Ali Arslan | 0867550 | talhaaliarslan@gmail.com |
| Leroy Hazeleger | 0651762 | l.hazeleger@student.tue.nl |
Discussion and Possible Solutions
ROS Nodes and Topics
With ROS, one can use nodes and topics to create simpler and easy-to-handle structures. Usage of nodes is very useful when multiple tasks have to be done simultaneously. For this project, a 'Master' node, a 'Movement' node and a 'Vision' node can be created to perform given tasks as solving a maze and recognizing signs, which have to be done simultaneously and which are at times independent of each other. For the corridor competition, the task is simple; so the use of multiple nodes and especially the 'Vision' node will be necessary for the second competition goal of which will be solving the maze. Here is one of the first drafts of the nodal structure of the program:
Creating a different map
1. Download GIMP Image Editor from the Software Center
2. Open the existing map ("maze.pgm") in '/home/s080482/ros/emc/general/gazebo_map_spawner/maps' with GIMP
3. Edit the map how you want it to be. Scroll all the way down in the 'Brushes' box in the bottom right of GIMP. Then there is a square on the second last row on the far right, called ' square (5x5)(5 x 5). (make sure you have this one and not one with 'blur'. Also select the 'Pencil Tool Hard Edge Painting Using a Brush' in the top left box.
4. Now just delete blocks and at add them were you want. Zooming in helps. You can switch color on the top left as well.
5. Also if you look closely, you can see a grey dot in the bottom center. I think this to mark the point where the robot spawns. I suggest we leave it where it is and edit the maze around it.
6. Save the map in the same folder but with a different name.
7. Go to the folder '/home/s080482/ros/emc/general/gazebo_map_spawner/scripts' and open spawn_maze in a text editor.
8. Change the name of the map in needs to load, i.e. change the OWN_MAP in the text below to your own map name.
rosrun gazebo_map_spawner map_spawner `rospack find gazebo_map_spawner`/maps/OWN_MAP.pgm
9. Now simply spawn the maze in exactly the same way as you did before, so with exactly the same commands!
Teleop Controller for Pico
To be able to move the robot around manually and easily is very useful when testing simple things in the algorithm. Here you can find the teleop controller for PR2:
And here is the revised version of the teleop controller for our robot pico:
Just create a ros package dependent on roscpp and geometry_msgs, compile and run it in a seperate terminal. As an example; by pressing 'W' in the terminal, you will move the robot forward in the simulator.