LAAS Code (GenoM3) for the OSMOSIS show case.¶

This project contains all the GenoM3 components needed for the OSMOSIS show case.

Robot setup¶

Below is a drawing from the Wiki (the components with bold name are available as sub-projects).

The status of the various component:

• IMUDriver-genom3: complete and compiles, not tested.
• LaserDriver-genom3: tested with an Hokuyo UTM-30LX
• PotentialField-genom3: complete and compiles, not tested.
• SafetyPilot-genom3: complete and compiles, not tested.
• Teleop-genom3: complete and compiles, not tested.
• RobotDriver-genom3: we do not have the source to port this component, so for now it is a proxy to get the /odom topic, and provides the /summit_xl_control/cmd_vel topic to the real controller.
• GPSDriver-genom3: complete and compiles, not tested.
• Localization-genom3: this component is basically pom-genom3
• Navigation-genom3: component and ports defined but no code.

Simulation setup¶

There is also a simulation setup which can be used. It has less functional modules (as some of them are handled by the Gazebo simulator). All the ports shared with the simulator (IMU, LaserScan, Odometry, Cmd) are ROS topics and are properly defined in IDL as to correspond to their ROS counterpart.