Running Carmen - Histórico de revisão

Vinicius Brito: /* Carmen use Scenaria */

2017-10-11T20:44:08Z

‎Carmen use Scenaria

Vinicius Brito: /* Building a Map (using teleoperation) */

2017-10-11T20:42:29Z

‎Building a Map (using teleoperation)

Vinicius Brito: /* Autonomous Navigation */

2017-10-11T20:42:12Z

‎Autonomous Navigation

Vinicius Brito: /* Motion Control Module */

2017-10-11T20:41:38Z

‎Motion Control Module

Vinicius Brito: /* Teleoperation of a Robot */

2017-10-11T20:38:10Z

‎Teleoperation of a Robot

Vinicius Brito: /* Interface Modules */

2017-10-11T19:30:37Z

‎Interface Modules

Vinicius Brito: /* Interface Modules */

2017-10-11T19:27:21Z

‎Interface Modules

Vinicius Brito: /* Interface Modules */

2017-10-11T19:26:40Z

‎Interface Modules

Vinicius Brito: /* Interface Modules */

2017-10-11T19:22:50Z

‎Interface Modules

Vinicius Brito: /* Interface Modules */

2017-10-11T19:20:01Z

‎Interface Modules

@@ Linha 37: / Linha 37: @@
 ==Carmen use Scenaria==
-The use of CARMEN will described using three different scenaria: simulating a robot and way-point navigation of it in a known map, tele-operating a robot, and building a map. Since CARMEN is modular software, each scenario will involve opening a bunch of different xterms and running different programs (called modules in the LCAD version of Carmen). Alternatively, one can use the program '''proccontrol''' to start and control each module.
+The use of CARMEN will described using two different scenaria: simulating a robot and way-point navigation of it in a known map and then running a playback of a logged ride. Since CARMEN is modular software, each scenario will involve opening a bunch of different xterms and running different programs (called modules in the LCAD version of Carmen). Alternatively, one can use the program '''proccontrol''' to start and control each module.
 Before starting, go to the Carmen sub-directory carmen/bin.

← Edição anterior		Edição das 20h42min de 11 de outubro de 2017
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	Now, we will run a playback of a recorded ride so that we can see the car route and sensor data in real-time. To do this section you will need the log file called (NOME DO LOG) saved in a directory called ¨/dados/¨. The log file contains pose, gps and velodyne data from a especific run. The log files are oftenly used to generate new offline maps and to calibrate sensors.		Now, we will run a playback of a recorded ride so that we can see the car route and sensor data in real-time. To do this section you will need the log file called (NOME DO LOG) saved in a directory called ¨/dados/¨. The log file contains pose, gps and velodyne data from a especific run. The log files are oftenly used to generate new offline maps and to calibrate sensors.
−
−	~~===Building a Map (using teleoperation)===~~
−
−	To build a map, you can use either teleoperation or autonomous navigation. However, autonomous navigation requires that you start with a map, so this section describes how to do it with teleoperation. Another way to build a map is with the map editor program.
−
−	~~While the robot is moving, you will need to run the logger program.~~
−
−	~~Run steps 1 through 6 above for teleoperating the robot, then:~~
−
−	~~7. In window 7, start the loggger~~
−
−	~~./logger [filename].log~~
−
−	~~[filename] specifies a filename for the sensor log. If the file already exists, the program will ask to overwrite it. If an answer other than "Y" or "y" is given, then the logger will quit.~~
−
−	Drive the robot around, covering your environment, then stop the logger by typing a CONTROL-C in the logger xterm. Before quitting the other programs (or after restarting them at a later time), run vasco on the logfile you created
−
−	~~./vasco file.log~~
−
−	~~This program opens an interface which displays sensor data compiled with raw odometry data, as in this image:~~
−
−	~~[[imagem:vasco1.gif]]~~
−
−	To correct for odometry error, click the "scan match" button on the upper right. After some computation time (progress is indicated on the lower left), the display will change, as in this second image:
−
−	~~[[imagem:vasco2.gif]]~~
−
−	This data was generated moving a robot from a lab (center right) into a corridor, up and down the corridor some distance, then back to the lab. The odd "fuzz" in the center of the corridor is actually the legs of people walking by as the data was gathered.
−
−	To create the final map to be used with param_deamon, now click the "Make Evidence Grid" button on the upper right. A new display will open allowing you to adjust parameters for creating the mapfile. At first, you should stick with the defaults.
−
−	~~[[imagem:vasco3.gif]]~~
−
−	~~When you click "Okay," that display will disappear, a new one will open and the map will form as you watch.~~
−
−	~~[[imagem:egrid.gif]]~~
−
−	~~Note that the data which showed the people walking through the image has not effected the final map. To save this as a map, click on the "File" menu and save as a ".map" file.~~
−
−	~~This file can then be used through your param_deamon program to allow for localization and autonomous navigation through the area you mapped.~~

← Edição anterior		Edição das 20h42min de 11 de outubro de 2017
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	This file can then be used through your param_deamon program to allow for localization and autonomous navigation through the area you mapped.		This file can then be used through your param_deamon program to allow for localization and autonomous navigation through the area you mapped.
−
−	~~===Autonomous Navigation===~~
−
−	~~This begins as if you were teleoperating the robot, but with a change in the param_deamon options to add the map file, and with other programs added.~~
−
−	~~1. In window 1, start the IPC central server~~
−
−	~~cd carmen/bin ; ./central~~
−
−	~~2. In window 2, start the parameter server~~
−
−	~~cd carmen/bin ; ./param_deamon [paramfile.ini] --robot robotname mapfile.map~~
−
−	~~3. In window 3, start the base server that corresponds to your robot~~
−
−	~~cd carmen/bin ; ./scout~~
−
−	~~4. In window 4, start the laser server~~
−
−	~~cd carmen/bin ; ./laser~~
−
−	~~5. In window 5, start the robot server~~
−
−	~~cd carmen/bin ; ./robot~~
−
−	~~6. In window 6, start the robotgui program~~
−
−	~~cd carmen/bin ; ./robotgui~~
−
−	~~7. In window 7, Run the localizer~~
−
−	~~cd carmen/bin ; ./localize~~
−
−	~~8. In window 8, Run the path planner~~
−
−	~~cd carmen/bin ; ./navigator~~
−
−	~~9. In window 9, Run the path planner graphics module~~
−
−	~~cd carmen/bin ; ./navigatorgui~~
−
−	~~Here is more detail on the new programs.~~
−
−	* localize
−	~~This program takes sensor data from base_services and compares it to the map to localize the robot on that map.~~
−	* navigator
−	~~This program plans the path from the robot's current location to its destination and tells base_services how to move the robot.~~
−	* navigatorgui
−	This program provides a user interface for telling the robot where it is and where to go. To set the robot position on the map display, simply left-click the "Place Robot" button, then left-click the desired location on the map. The cursor will change into a pair of curved arrows, and a red dot appears ti indicate the robot location. A line between the dot and the cursor indicates the direction the robot's orientation. Left-click again to fix the robot orientation. If you are using a simulated robot, this will also place and orient the simulated robot. To separate the simulated robot from it's perceived location, you must set the simulator location after setting the robot location.
−
−	You can now control the robot using the navigator. You can then left click on the map to give the robot a goal. Select the "Go" button to send the robot from its current location to the selected goal. Select the "Stop" button (the same location as the "Go" button) to make the robot stop at any time.
−
−	~~[[imagem:navpanel.gif]]~~
−
−	In this image, the robot's current perceived position is represented by the red circle, and the simulated position is represented by the blue circle. The robot's goal is represented by the yellow circle. The planned path is represented by the blue line. The planned path will change as the robot moves toward the goal and encounters obsticles. The scale of the image can be changed by moving the lower slide-bar.

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     ./model_predictive_planner
     ./rrt_path_follower
-The path planner module tries to reduce the latency between sensoring and atuation on the system.
+The first module outputs the aceleration of the car based on the next position desired.
 Obstacle avoider
@@ Linha 169: / Linha 165: @@
     ./obstacle_avoider
-Generate alternative paths to avoid obstacles.
+Controls the aceleration of the robot to avoid obstacles.
 ==== Interface Modules ====

@@ Linha 196: / Linha 196: @@
 This will open a 3D graphic interface where the car movement and sensors data are displayed.
-===Teleoperation of a Robot===
+=== Playback a recorded ride ===
-Before starting, go to the Carmen sub-directory carmen/bin.
+Now, we will run a playback of a recorded ride so that we can see the car route and sensor data in real-time. To do this section you will need the log file called (NOME DO LOG) saved in a directory called ¨/dados/¨. The log file contains pose, gps and velodyne data from a especific run. The log files are oftenly used to generate new offline maps and to calibrate sensors.
 ===Building a Map (using teleoperation)===

@@ Linha 176: / Linha 176: @@
     ./navigator_gui2 -map_path ../data/map_ida_guarapari-20170403
-This will open a graphic display. Place the simulated robot in the map by left-clicking on the "Place Simulator" button, and then left-clicking once on the desired location on the map. Then move the cursor away from the blue dot that appears, in the direction you wish the robot to face. A blue line appears between the cursor (now two curved arrows) and the simulated robot, indicating the facing of the robot. Left-click again to fix the facing of the robot.
+This will open a graphic display.
 [[imagem:navigator_procedure.gif]]

@@ Linha 184: / Linha 184: @@
     ./proccontrol_gui
-This GUI display all the modules running for this module.
+This GUI display all the modules running for this process:
 [[imagem:navigator_interface.png]]
 Viewer 3D

← Edição anterior		Edição das 19h26min de 11 de outubro de 2017
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	./proccontrol_gui		./proccontrol_gui

		+	This GUI display all the modules running for this module.

		+	[[imagem:navigator_interface.png]]
	Viewer 3D		Viewer 3D

← Edição anterior		Edição das 19h22min de 11 de outubro de 2017
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	[[imagem:navigator_procedure.gif]]		[[imagem:navigator_procedure.gif]]
		+
		+	Procconttrol_gui
		+
		+	./proccontrol_gui
		+

	Viewer 3D		Viewer 3D