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

This project contains all the GenoM3 components needed for the OSMOSIS case study. It can be used with ROS middleweight, with the simulation and the real robot. If you want to run all the components in

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 on the real IMU.
• LaserDriver-genom3: tested with an Hokuyo UTM-30LX at LAAS.
• PotentialField-genom3: complete and compiles, tested with the simulator (see below).
• SafetyPilot-genom3: complete and compiles, tested with the simulator (see below).
• Teleop-genom3: complete and compiles, not tested (not needed in simualtion, not mandatory in the real robot).
• 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. This module only makes sense when using PocoLibs as it will "translate" topics from ROS to GenoM3 ports. Otherwise, in simulation, with
• GPSDriver-genom3: complete and compiles, tested with the simulator (see below).
• Localization-genom3: this component is basically pom-genom3 . In simulation, it will grab the IMU, GPS and Odometry topics, translate them in ht pose-estimator format used by pom-genom3 and then pom will produce the pose which can be used directly or thru the Localisation pose port.
• Navigation-genom3: complete and compiles, tested with the simulator (see below.

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.