Advance Revision

1st Advance Revision for Robotics collaboration CEM-DFKI

 

1. List of sensors and actuators.- Sick laser, Gripper, two motors, 4 wheels for the outdoors robot. For the indoors robot we located the sonar, sick laser, 2 motors and 3 wheels.
2. Check Aria demo in the outdoors Pioneer.- The demo worked correctly and I was able to teleoperate the robot, however we could not put the sick laser to work properly.
3. Installation of Ubuntu and Player/Stage. Since some time ago I have been having troubles with my computer, however I was able to successfully install ubuntu, and then player and stage.
4. I test the installation by running one of the cfg files that are already in the database of stage. There I checked functionality of playerjoy which makes it possible to teleoperate the robot. Also I used playerv which enables you to activate and see any of the tools, that the robot counts with, sonar, sick laser, etc.
5. Execution of   the laserobstacleavoid program in several .cfg files such as simple.cfg and autolab.cfg. This program allows a robot to avoid obstacles through laser readings.

The program runs in simulation with no problem although I don´t quite understand it´s content.

6. Compilation and execution of the example 0 program. Analysis of its code and familiarization with the concepts of proxy (laser and sonar mainly). Compilation of programs is done with the next command in the terminal:

g++ -o example0 `pkg-config --cflags playerc++` example0.cc `pkg-config --libs playerc++`

 

Changed the program for it to have a laser and a sonar for the robot, and also modified the speed of the robot and some other parameters in order to understand the program.

 

7. Creation world and cfg files that simulate the laboratories in which we work and creation of a program with two robots (simulating the Pioneer robots we are working with) that can navigate in this world.

First we researched some information of how a .cfg and a .world files are structured and analyze the information they handle. We discovered that the cfg files load drivers and libraries and calls the world file in which all the information of the environment in which the robot is going to interact is defined in. We saw that by changing the .png file (image bit map) in the world file, we would practically have the world file for our robot to interact. Later we tried to know how other things are defined or created in such files, and we were able to put a second robot in the file. Anyway so far we haven´t  been able to make both robots to run a program since we can only get one to obey but we are working on that and hopefully will see them interact any time soon.