Difference between revisions of "Adapting SyRoTek Intro to ROS Code"
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* [https://www.researchgate.net/publication/229003977_Syrotek_a_robotic_system_for_education paper] | * [https://www.researchgate.net/publication/229003977_Syrotek_a_robotic_system_for_education paper] | ||
* [https://www.researchgate.net/publication/221130409_A_Technical_Solution_of_a_Robotic_e-Learning_System_in_the_SyRoTek_Project SyRoTek Paper] | * [https://www.researchgate.net/publication/221130409_A_Technical_Solution_of_a_Robotic_e-Learning_System_in_the_SyRoTek_Project SyRoTek Paper] | ||
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= Code Download = | = Code Download = | ||
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Watch the odomometry messages in another terminal | Watch the odomometry messages in another terminal | ||
rostopic echo odom | rostopic echo odom | ||
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| + | = MathJax = | ||
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| + | * [https://www.mathjax.org MathJax Org] | ||
| + | * [http://docs.mathjax.org/en/latest/start.html Getting Started] | ||
| + | * [http://www.colorado.edu/physics/phys4610/phys4610_sp15/PHYS4610_sp15/Home_files/LaTeXSymbols.pdf LeTeX Symbols] | ||
| + | * [http://meta.math.stackexchange.com/questions/5020/mathjax-basic-tutorial-and-quick-reference Tutorial] | ||
Revision as of 17:55, 11 May 2016
Contents
References
Code Download
PID
tar xzf dem_pid.tar.gz
Dead Reckoning
Got it from the SyRoTek lesson web pages.
Setting up the project
Build
cd /home/eepp/catkin_ws_indigo/src catkin_create_pkg syrotek roscpp rospy std_msgs cd .. catkin_make
Update Meta Files
emacs CMakeList.txt
added the following to the end
# for DeadReckoning
set (SRCS1 ${SRCS1} src/myPoint.cpp)
set (SRCS1 ${SRCS1} src/node_pid.cpp)
set (SRCS1 ${SRCS1} src/pid.cpp)
set (SRCS2 ${SRCS2} src/node_deadReckoningI.cpp)
set (SRCS2 ${SRCS2} src/deadReckoningI.cpp)
include_directories(include ${catkin_INCLUDE_DIRS})
add_executable(cmd ${SRCS1})
target_link_libraries(cmd ${catkin_LIBRARIES})
add_executable(deadReckoningReg ${SRCS2})
target_link_libraries(deadReckoningReg ${catkin_LIBRARIES})
# for PID
add_executable(pid ${SRCS1})
target_link_libraries(pid ${catkin_LIBRARIES})
add_dependencies(pid beginner_tutorials_generate_message_cpp)
Put the source in place
roscd syrotek/
ll src
-rw-rw-r-- 1 eepp eepp 1022 May 9 12:10 deadReckoningI.cpp
-rw-rw-r-- 1 eepp eepp 525 May 9 13:28 myPoint.cpp
-rw-rw-r-- 1 eepp eepp 3105 May 9 12:09 node_deadReckoningI.cpp
-rw-rw-r-- 1 eepp eepp 4125 May 9 13:29 node_pid.cpp
-rw-rw-r-- 1 eepp eepp 2766 May 9 18:35 pid.cpp
ll include
-rw-rw-r-- 1 eepp eepp 924 May 9 13:27 myPoint.h
-rw-rw-r-- 1 eepp eepp 1968 May 9 13:36 node_deadReckoningI.h
-rw-rw-r-- 1 eepp eepp 2997 May 9 13:27 node_pid.h
Modifications
diff pid.cpp.org pid.cpp
13c13
< #define MAX_SPEED 0.5 //!<Maximum speed of robot.
---
> #define MAX_SPEED 5.0 //!<Maximum speed of robot.
Execute
Terminal 1
roscore
Terminal 2
roslaunch floor_hugger motor_control.launch
Terminal 3
roslaunch floor_hugger odometry.launc
Terminal 4
rosrun syrotek pid -f 0.4
or
rosrun syrotek cmd -f 0.4
Watch the odomometry messages in another terminal
rostopic echo odom
