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 where R=3.

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. A set-point can be set in between the two corridor points. However there are 4 points in this situation (see figure left below), the two central represent the corridor. Any outer point can be removed from the set (figure center below), this results in at least one pair of 2 corridor points (figure right below shows the possibility of multiple corridor point pairs)