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tutorials:flexible-navigation-stack-selenv:start [2021/05/22 17:22]
Christian Schlegel [Update the Maps]
tutorials:flexible-navigation-stack-selenv:start [2021/05/22 17:58] (current)
Christian Schlegel [Update the System Parameters]
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 {{ tutorials:​flexible-navigation-stack-selenv:​S02_00_FNS_NewEnvironment_system_params.png | }} {{ tutorials:​flexible-navigation-stack-selenv:​S02_00_FNS_NewEnvironment_system_params.png | }}
  
-Since the flexible navigation stack remains the same, we don't have to modify the other models in the system projecti.e. Component Architecture,​ Deployment, Target, etc.+Since //​SystemWebotsRobotino3NavigationNew//​ and //​SystemWebotsRobotino3Navigation//​ use the same flexible navigation stack, we don't have to modify the other models in the system project ​(i.e. Component Architecture,​ Deployment, Target, etc.).
  
 ==== Update the Maps ==== ==== Update the Maps ====
  
-We use the map generated in [[tutorials:​flexible-navigation-stack-map:​start]] (i.e. laserMap.pgm,​ laserMap.yaml). ​+We use the map generated in [[tutorials:​flexible-navigation-stack-map:​start]] (i.e. ''​laserMap.pgm''​''​laserMap.yaml''​). 
  
   * //​SmartAmcl//​ requires this map to estimate the current position of the robot using a laser ranger and odometry information.   * //​SmartAmcl//​ requires this map to estimate the current position of the robot using a laser ranger and odometry information.
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 {{ tutorials:​flexible-navigation-stack-selenv:​S03_03_FNS_NewEnvironment_updated_mapper_yaml.png | }} {{ tutorials:​flexible-navigation-stack-selenv:​S03_03_FNS_NewEnvironment_updated_mapper_yaml.png | }}
  
-**Note:** In most scenarios, the same map is used for both, the robot localization (i.e. localization-map.pgm) and the robot path planning (i.e. navigation-map.pgm). However, in some cases we want to block some areas in the environment so that the robot does not enter them. +**Note:** In most scenarios, the same map is used for both, the robot localization (i.e. ''​localization-map.pgm''​) and the robot path planning (i.e. ''​navigation-map.pgm''​). However, in some cases we want to block areas in the environment so that the robot does not enter them. In this case, the ''​navigation-map.pgm''​ (used for path planning) is different from the ''​localization-map.pgm''​ (used for localization). We modify the ''​navigation-map.pgm''​ such that grid cells belonging to forbidden areas are changed from //free// to //​occupied//​.
  
-s of the environment,​ these areas in the map are modified as occupied from free space and this modified map is used path planning.+==== Update ​the CDL-Lookup Files ====
  
-==== Update ​CDL-Lookup Files ====+The //​SmartCdlServer//​ (motion execution) requires ​CDL-lookup files to calculate the motion commands to drive the robot towards intermediate waypoints as received from the path planner. CDL-lookup files are generated using the shape, the kinematics and the dynamics of the robot. ​
  
-''​SmartCdlServer'' ​requires CDL-lookup files to calculate the motion commands to drive the robot towards intermediate waypoints as received from the path planner. CDL-lookup files are generated using shapekinematics and dynamics of the robot. CDL-lookup files improve the efficiency by reducing the number of calculations required to generate the motion commands.+Since ''​SystemWebotsRobotino3NavigationNew'' ​and ''​SystemWebotsRobotino3Navigation''​ use the same robot (a robotino ​robot)we don't have to update ​the cdl-lookup files. ​
  
-Since SystemWebotsRobotino3NavigationNew and SystemWebotsRobotino3Navigation use same robot i.e robotino, we don't have to update the cdl-lookup files. ​However, this step is required due to a bug in the copying of the project. ​During the copying the CDL-lookup binary files effected. So we delete all files from the folder ''​$SMART_ROOT_ACE/​repos/​SystemRepository/​SystemWebotsRobotino3NavigationNew/​smartsoft/​src/​SmartCdlServer_data/​data/​lookup-files''​. Copy all files from folder ''​$SMART_ROOT_ACE/​repos/​SystemRepository/​SystemWebotsRobotino3NavigationNew/​smartsoft/​src/​SmartCdlServer_data/​data/​lookup-files''​ to ''​$SMART_ROOT_ACE/​repos/​SystemRepository/​SystemWebotsRobotino3NavigationNew/​smartsoft/​src/​SmartCdlServer_data/​data/​lookup-files''​.+**However, this step is required ​at the moment ​due to a bug in the copying of the project.**
  
-Note that if we want to use another robot e.g. Pioneer3Dx, Tiago, ​we must use the corresponding lookup ​files and update the names of the lookup files in ''​SmartCdlServer'' ​parameters in ''​*.systemParameters'' ​file.+Copying the system project has an effect on the CDL-lookup binary filesSo we need to do the following steps: 
 +  * delete all files from the folder ''​$SMART_ROOT_ACE/​repos/​SystemRepository/​SystemWebotsRobotino3NavigationNew/​smartsoft/​src/​SmartCdlServer_data/​data/​lookup-files''​ 
 +  * copy all files from folder ​''​$SMART_ROOT_ACE/​repos/​SystemRepository/​SystemWebotsRobotino3NavigationNew/​smartsoft/​src/​SmartCdlServer_data/​data/​lookup-files'' ​to ''​$SMART_ROOT_ACE/​repos/​SystemRepository/​SystemWebotsRobotino3NavigationNew/​smartsoft/​src/​SmartCdlServer_data/​data/​lookup-files''​
  
-Now all the changes required in a system project for running the flexible navigation stack with a new environment are done. Now we can deploy and execute the system. The following section describes how to deploy and execute the system. These steps same for all the system projects ​as you have seen in the previous tutorials.+Note that if we want to use another robot such as a Pioneer3DX, Tiago, etc., we must use the corresponding CDL-lookup files and we need to update the names of the CDL-lookup files in the ''​SmartCdlServer''​ parameters in the corresponding ''​*.systemParameters''​ file. 
 + 
 +Now all the changes required in a system project for running the flexible navigation stack in a new environment are done. Now we can deploy and execute the system. The following section describes how to deploy and execute the system. These steps are the same for all the system projects ​and you have seen them already ​in the previous tutorials.
  
 ==== Deploying and Executing the System ==== ==== Deploying and Executing the System ====
  
-**Step ​5.a:** Right click on the project → Run Code-Generation. This step is required if there is any change in models of the project(i.e any file inside the model folder). In this tutorial, we modified the System ​parameters, ​code-generation generates the updated configuration files(i.e *.ini files). You can look at the generated configuration files in ''​smartsoft/​src-gen/​params''​ and ''​smartsoft/​src-gen/​combined-ini-files'' ​folders.+**Step ​1:** Right click on //project// → //Run Code-Generation//. This step is required if there is any change in models of the project (i.eany file inside the model folder). In this tutorial, we modified the system ​parameters ​and thuswe need to do this step to generate ​updated configuration files (i.e *.ini files). You can look at the generated configuration files in the folders ​''​smartsoft/​src-gen/​params''​ and ''​smartsoft/​src-gen/​combined-ini-files''​.
  
 {{ tutorials:​flexible-navigation-stack-selenv:​S05_00_FNS_NewEnvironment_code_generation.png | }} {{ tutorials:​flexible-navigation-stack-selenv:​S05_00_FNS_NewEnvironment_code_generation.png | }}
  
-Verify that there are no errors during the code generation by looking at the Console ​terminal: ​+Verify that there are no errors during the code generation by looking at the console ​terminal: ​
  
 {{ tutorials:​flexible-navigation-stack-selenv:​S05_01_FNS_NewEnvironment_verify_code_generation.png | }} {{ tutorials:​flexible-navigation-stack-selenv:​S05_01_FNS_NewEnvironment_verify_code_generation.png | }}
  
-**Step ​5.b:** We now deploy the system by clicking the Deployment Action from the right-click menu of the project: ​+**Step ​2:** We now deploy the system by clicking the //Deployment Action// from the right-click menu of the project: ​
  
 {{ tutorials:​flexible-navigation-stack-selenv:​S05_02_FNS_NewEnvironment_deployment.png | }} {{ tutorials:​flexible-navigation-stack-selenv:​S05_02_FNS_NewEnvironment_deployment.png | }}
  
-It depends on your configuration whether you are being asked for credentials of the configured login account. Finally, you see the following pop-up window which tells you that the deployment was successful:+It depends on your configuration whether you are asked for credentials of the configured login account. Finally, you see the following pop-up window which tells you that the deployment was successful:
  
 {{ tutorials:​flexible-navigation-stack-selenv:​S05_03_FNS_NewEnvironment_deployment_popup.png | }} {{ tutorials:​flexible-navigation-stack-selenv:​S05_03_FNS_NewEnvironment_deployment_popup.png | }}
  
-**Step ​5.c:** You can now start your system by clicking Yes. A terminal window will open and show the scenario control menu. Choose menu-start to start the scenario. Further terminals open automatically (one for each component and one additional window for the naming service). Note that they may not be visible initially in case they overlap. Choose menu-stop to stop the scenario. ​+**Step ​3:** You can now start your system by clicking ​//Yes//. A terminal window will open and show the scenario control menu. Choose ​//menu-start// to start the scenario. Further terminals open automatically (one for each component and one additional window for the naming service). Note that they may not be visible initially in case they overlap. Choose ​//menu-stop// to stop the scenario. ​
  
 {{ tutorials:​flexible-navigation-stack-selenv:​S05_04_FNS_NewEnvironment_scenario_control_window.png | }} {{ tutorials:​flexible-navigation-stack-selenv:​S05_04_FNS_NewEnvironment_scenario_control_window.png | }}
  
-**Step ​5.d:** Wait until the webots simulator is up and all the components ​are started running. ​ Look for the terminal which contains the ComponentTCLSequencer.+**Step ​4:** Wait until the webots simulator is up and all the components started ​and are running. Look for the terminal ​window ​which contains the //ComponentTCLSequencer//.
  
 {{ tutorials:​flexible-navigation-stack-selenv:​S05_05_FNS_NewEnvironment_scenario_running.png | }} {{ tutorials:​flexible-navigation-stack-selenv:​S05_05_FNS_NewEnvironment_scenario_running.png | }}
  
-In the menu, select ​"5 - Approach location" ​and enter one of the offered names for locations.+In the menu, select ​//5 - Approach location// and enter one of the offered names for locations.
  
 Now, the robot navigates to this destination and stops there. Now, the robot navigates to this destination and stops there.
tutorials/flexible-navigation-stack-selenv/start.1621696975.txt.gz · Last modified: 2021/05/22 17:22 by Christian Schlegel