Mudanças entre as edições de "Carmen Online Docs"
(New page: ==Welcome to CARMEN== This is a quite early version of the documentation of CARMEN. It is not complete but should be helpful when programming with CARMEN. ===The Structure of CARMEN=== ...) |
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| + | [[category:Carmen]] | ||
==Welcome to CARMEN== | ==Welcome to CARMEN== | ||
| + | This is a quite early version of the documentation of CARMEN. It is not complete but should be helpful when programming with CARMEN. It is strongly based on the original version (http://carmen.sourceforge.net/home.html). | ||
| − | + | An useful link of the original documentation not fully presented here: http://carmen.sourceforge.net/doc/ | |
===The Structure of CARMEN=== | ===The Structure of CARMEN=== | ||
| Linha 11: | Linha 13: | ||
===Quick Installation Guide=== | ===Quick Installation Guide=== | ||
| + | If you want to use the LCAD's Carmen version, please refer to: | ||
| + | |||
| + | [[Script de Instalação do Carmen]] | ||
| + | |||
| + | Click here to download the original version of the software.[http://sourceforge.net/projects/carmen/files/] | ||
| + | |||
| + | After that: | ||
$ tar xzf carmen.tgz ~/ | $ tar xzf carmen.tgz ~/ | ||
$ cd carmen/src | $ cd carmen/src | ||
| Linha 27: | Linha 36: | ||
$ ./navigator_panel (click place robot to initialize the simulator and the localization) | $ ./navigator_panel (click place robot to initialize the simulator and the localization) | ||
$ ./robotgui | $ ./robotgui | ||
| − | ROBOTNAME might be | + | ROBOTNAME might be p2d8+, a MAPFILE might by ../data/mapa_do_ctvii_500k_64.map |
===Quick Guide: Running CARMEN on a Real Robot=== | ===Quick Guide: Running CARMEN on a Real Robot=== | ||
Edição atual tal como às 16h03min de 14 de setembro de 2012
Índice
Welcome to CARMEN
This is a quite early version of the documentation of CARMEN. It is not complete but should be helpful when programming with CARMEN. It is strongly based on the original version (http://carmen.sourceforge.net/home.html).
An useful link of the original documentation not fully presented here: http://carmen.sourceforge.net/doc/
The Structure of CARMEN
CARMEN is an open-source collection of software for mobile robot control. CARMEN is modular software designed to provide basic navigation primatives including: base and sensor control, logging, obstacle avoidance, localization, path planning, and mapping. The modules are shown in the left navigator bar. Click of the different modules to browser their messages, libraries, functions, data structures, etc. The communication between CARMEN modules is handled using a separate package called IPC, Copyright 1991 Christopher Fedor and Reid Simmons. IPC is distributed along with CARMEN.
Quick Installation Guide
If you want to use the LCAD's Carmen version, please refer to:
Script de Instalação do Carmen
Click here to download the original version of the software.[1]
After that:
$ tar xzf carmen.tgz ~/ $ cd carmen/src $ ./configure $ make
Quick Guide: Running the CARMEN Simulator
For starting the carmen simulator, call
$ ./central $ ./param_daemon -r ROBOTNAME MAPFILE $ ./simulator $ ./robot $ ./localize $ ./navigator $ ./navigator_panel (click place robot to initialize the simulator and the localization) $ ./robotgui
ROBOTNAME might be p2d8+, a MAPFILE might by ../data/mapa_do_ctvii_500k_64.map
Quick Guide: Running CARMEN on a Real Robot
For starting carmen with a real robot, call
$ ./central $ ./param_daemon -r ROBOTNAME MAPFILE $ ./laser $ ./BASEDRIVER (e.g. pioneer) $ ./robot $ ./localize $ ./navigator $ ./navigator_panel (click place robot to initialize the localization) $ ./robotgui
