Wiki » History » Revision 8
Revision 7 (François Félix Ingrand, 2018-01-23 16:12) → Revision 8/27 (François Félix Ingrand, 2018-05-29 10:18)
h1. 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 h2. 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, properly not tested on the real IMU. * LaserDriver-genom3: tested with an Hokuyo UTM-30LX at LAAS and on the real robot. LAAS. * PotentialField-genom3: complete and compiles, tested with the simulator and the real robot. (see below). * SafetyPilot-genom3: complete and compiles, tested with the simulator and the real robot. (see below). * Teleop-genom3: complete and compiles, not tested on (not needed in simualtion, not mandatory in the real robot. robot). * RobotDriver-genom3: we do not have the source to fully implement port this component. For component, so for now it is a proxy to get the /odom topic, and /joy topics from the real robot controler (and copy them in the proper port), and provides the /summit_xl_control/cmd_vel topic to the real controller from the Safety Pilot Cmd port. controller. This module only makes sense when using PocoLibs as it will "translate" topics from ROS to GenoM3 ports and vice versa. ports. Otherwise, you may as well directly map to the ros topics. in simulation, with * GPSDriver-genom3: complete and compiles, tested with the simulator and on the real robot. (see below). * Localization-genom3: this component is basically "pom-genom3":https://git.openrobots.org/projects/pom-genom3?jump=welcome . In simulation, it will grab the /odom IMU, GPS and Odometry topics from gazebo, topics, translate it ina them in ht pose-estimator format used by pom-genom3 and then pom will produce the pose which can be used directly. On directly or thru the real robot, we use pom which grab GPS position, Odometry speed and IMU speed/accel and merge them. Localisation pose port. * Navigation-genom3: complete and compiles, tested with the simulator. simulator (see below. !OSMOSIS.png! h2. 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. Pom does a poor job when merging Odometry, GPS and IMU in simulation (probably because the Odometry is terrain truth, so using a kahlman does not make sense). So we just grab /odom for position. !simu.png!