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Commit be0abbc6 authored by manxilin's avatar manxilin
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follwo guidemark

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388box 0 → 100644
0.0 0.0 1.8 0
0.0 1.8 1.8 1.8
0.0 0.0 0.0 1.8
1.8 0.0 1.8 1.8
0 1.0 2.3 1.0
1.0 1.0 1.25 1.125
1.25 1.125 1.5 1.375
1.5 1.375 1.75 1.5
1.75 1.5 4.25 1.5
2.5 1.3 2.5 1.7
3.0 1.3 3.0 1.7
3.5 1.3 3.5 1.7
4.0 1.3 4.0 1.7
388maze 0 → 100644
0.0 0.0 3.75 0.0 kuk
0.75 0.75 1.5 0.75 kuk1
2.25 0.75 3.75 0.75
0.0 1.5 0.75 1.5
1.5 1.5 3.0 1.5
0.75 2.25 2.25 2.25
0.0 3.0 1.5 3.0
0.0 0.0 0.0 3.75
1.5 0.75 1.5 1.5
2.25 2.25 2.25 3.75
3.0 1.5 3.0 3.0
3.75 0.0 3.75 3.75
0.0 3.75 3.73 3.75
0.0 0.0 1.8 0.0 bottom left
2.2 0.0 4.0 0.0 bottom right
0.0 5.0 1.8 5.0 top left
2.2 5.0 4.0 5.0 top right
0.0 0.0 0.0 1.8 left down
0.0 3.2 0.0 5.0 left up
4.0 0.0 4.0 1.8 right down
4.0 3.2 4.0 5.0 right up
0.9 3.1 1.7 3.1 maze bottom left
2.3 3.1 3.1 3.1 maze bottom right
1.7 2.5 1.7 3.1 maze left down
0.9 3.1 0.9 4.3 maze left up
2.3 2.5 2.3 3.1 maze right down
3.1 3.1 3.1 4.3 maze right up
1.5 3.7 2.5 3.7 maze middle horizontal
2.0 3.7 2.0 4.3 maze middle vertical
0.9 4.3 3.1 4.3 maze top
2.0 0.85 2.0 1.15
#Simulation environment for the 31388 course
#Include SMR robot model together with basic map and URG laser scanner
include "smr.inc"
include "map.inc"
include "urg-04lx.inc"
include "guidemark.inc"
interval_sim 10
# configure the GUI window
window
(
size [ 600.000 750.000 ]
center [0 0.200]
scale 100.000
show_data 1 # 1=on 0=off
)
# load an environment bitmap
floorplan
(
bitmap "test.png"
size [5.000 6.500 0.300]
pose [0 0 0 0]
name "385world"
)
linemap
(
bitmap "test.png"
size [5.000 6.500 0.010]
pose [0 0 0 0]
name "linemap"
)
# create a robot
smr
(
name "smr0"
pose [-1.500 -2.8 0 90]
)
guidemark
(
name "gmk1"
pose [1.500 -2.000 0 180.000]
fiducial_return 1
fiducial( fov 60 )
)
guidemark
(
name "gmk2"
pose [1.700 -2.000 0 180.000]
fiducial_return 2
fiducial( fov 60 )
)
guidemark
(
name "gmk3"
pose [1.900 -2.000 0 180.000]
fiducial_return 3
fiducial( fov 60 )
)
guidemark
(
name "gmk4"
pose [2.100 -2.000 0 180.000]
fiducial_return 4
fiducial( fov 60 )
)
box
(
name "box1"
pose [-1 -2.5 0 0]
)
4x4_big.png

5.76 KiB

#!usr/bin/bash
# run the client
cd ..
qclient -style a
Debug file for the robot initialization
---------------------------------------
Thu May 21 16:11:28 2020
---------------------------------------
Module : robotinfo
type differential enum number 0
name smr
Module : odometry
cl 0.000102
cr 0.000102
w 0.260000
robotlength 0.265000
ts 0.010000
maxtick 1000
control 0
enctype 0
Module : motion control
ts 0.010000
line_gain 0.050000
line_tau 10.000000
line_alfa 0.300000
wall_gain 1.000000
wall_tau 0.700000
wall_alfa 0.200000
gain 1.000000
tau 0.160000
alfa 0.200000
drive_kangle 2.250000
drive_kdist 4.800000
w 0.260000
robotlength 0.265000
lim 0.200000
stopdist 0.180000
alarmdist 0.100000
velcmd 0.300000
acccmd 0.300000
nolinedist 0.200000
Module : motor control
velscalel 100.000000
velscaler 100.000000
kp 66.000000
ki 10.000000
Module : line sensor
size 8
k_filt 0.750000
Module : filter
measurementnoise_std_x 0.100000
measurementnoise_std_y 0.110000
processnoise_std_stearingangle 0.010000
processnoise_std_dist 0.020000
type EKF
run 1
use 0
size_input 2
size_state 3
size_noise_process 2
size_output 2
size_noise_output 2
gpsoffset_easting 0.000000
gpsoffset_northing 0.000000
Module : gpsmouse
hostname localhost
port 9500
SBAS 0
run 1
use 1
#!usr/bin/bash
# start the laser server
cd ..
ulmsserver
#!usr/bin/bash
sshfs -o ssh_command='ssh -J s192230@login.gbar.dtu.dk' k388h16@tustin.iau.dtu.dk:. /home/smr/k388
#!usr/bin/bash
fusermount -u /home/smr/k388
#!usr/bin/bash
# run mrc scripts
cd ../mrc_src
## create map
mrc -s8000 createWalls
mrc -s8000 spawnNodes
wait 1
## run the robot
mrc -s8000 main
#!usr/bin/bash
# run the simulator
cd ..
simserver1 final.xml
# script to load URG and simulated laser scanner module
server imagepath="."
server datapath="."
server replayPath="foo"
module load="laserpool"
module load="odopose"
# other support modules
module load="mapPose"
module load="utmPose"
module load="var"
module load="aupoly.so.0"
module load="mapbase.so.0"
# define laserscanner to use
scanset devtype=replay devname="laser_0.log"
scanset devtype=urg devname="/dev/ttyACM0"
scanset def=urg
scanset mirror=true
scanset width=180
# uncomment next 2 lines to use fake laserscanner (in simulated environment)
; scanset devtype=fake devname="urg"
; scanset def=fake
# set scanner position in robot coordinates
scanset x=0.2 y=0.0 z=0.05
scanget
# localizer
module load="aulocalize.so.0"
; init localizer
setInitPose x=0 y=0 th=0
setInitCov Cx=0.04 Cy=0.04 Cth=0.04
addline polyline="mapWall*"
Debug file for the robot initialization
---------------------------------------
Tue Feb 18 16:04:04 2020
---------------------------------------
Module : robotinfo
type differential enum number 0
name smr
Module : odometry
cl 0.000102
cr 0.000102
w 0.260000
robotlength 0.265000
ts 0.010000
maxtick 1000
control 0
enctype 0
Module : motion control
ts 0.010000
line_gain 0.050000
line_tau 10.000000
line_alfa 0.300000
wall_gain 1.000000
wall_tau 0.700000
wall_alfa 0.200000
gain 1.000000
tau 0.160000
alfa 0.200000
drive_kangle 2.250000
drive_kdist 4.800000
w 0.260000
robotlength 0.265000
lim 0.200000
stopdist 0.180000
alarmdist 0.100000
velcmd 0.300000
acccmd 0.300000
nolinedist 0.200000
Module : motor control
velscalel 100.000000
velscaler 100.000000
kp 66.000000
ki 10.000000
Module : line sensor
size 8
k_filt 0.750000
Module : filter
measurementnoise_std_x 0.100000
measurementnoise_std_y 0.110000
processnoise_std_stearingangle 0.010000
processnoise_std_dist 0.020000
type EKF
run 1
use 0
size_input 2
size_state 3
size_noise_process 2
size_output 2
size_noise_output 2
gpsoffset_easting 0.000000
gpsoffset_northing 0.000000
Module : gpsmouse
hostname localhost
port 9500
SBAS 0
run 1
use 1
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