wiki:Old/Robot/robothandbook

Version 13 (modified by aniket, 17 years ago) ( diff )

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  • Python
    • neldermead.py
    • gradfollower.py
    • v3.py
  • C++
    • Behaviors
    • Using the grid

Included Programs

Hardware tests

The ERSP software comes with some very useful programs to test how well the hardware is working. All of them are command-line utilities located in /opt/evolution_robotics/bin. The most useful of these are:

  • test_battery
  • test_range_sensors
  • test_camera

If these three tests execute successfully, all hardware is properly connected.

Navtool is an included application useful for testing that the ERSP software is working properly. It demonstrates object avoidance and map-building.

To use it, execute the following two commands in separate consoles: 

$ run_slam_explore
$ run_client_gui

The program will cause the robot to wander around the room and create a map using its camera. Much more information on navtool is in the Getting Started Guide.

Calibration

The camera and drive system of the robot need to be calibrated. Instructions for doing so are in the Getting Started Guide (page 47). The camera requires two types of calibration: intrinsic and extrinsic. Calibrating the drive system requires the use of a joystick. Winlab has purchased a Logitech Rumblepad which can be used for this purpose.

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