Embedded Motion Control 2012 Group 10

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Contents

Group Info

Name Student ID Email
Ziyang LI 0787075 z.li.2@student.tue.nl
Libo SU 0788820 l.b.su@student.tue.nl
Juan CHEN 0785926 j.chen@student.tue.nl
Fengjiao YANG 0788943 f.yang@student.tue.nl

Progress

Week 1

Done

  • Ziyang LI
    • Arch installed.
  • Libo SU
    • Ubuntu 11.10 installed. ROS installed
  • Juan CHEN
    • Ubuntu 11.10 installed. ROS installed
  • Fengjiao YANG
    • Ubuntu 12.04 installed.

Questions

  1. We know how to code in C, but not in C++. Is that OK? Could you please give an example related to this course to show using C++ is essential?

Week 2+3

Targets

  • Install ROS and configure all necessary tools.
  • Go through all the tutorials.
  • Try some codes.
Eclipse & ROS installation C++ tutorial ROS tutorial Jazz Simulator installation
Ziyang LI Done Done Done Done
Libo SU Done Done Done
Juan CHEN Done Done Done
Fengjiao YANG Done Done Done

Questions

  1. Error when install Jazz. (Failed to invoke /opt/ros/fuerte/bin/rospack deps-manifests jazz_simulator [rospack] Error: package/stack jazz_simulator depends on non-existent package turtlebot_node)
     sudo apt-get install ros-fuerte-turtlebot (or replace fuerte by electric, depending on your ROS version)
  2. When we compile the c++ file using Eclipse, do we need to write a makefile ourselves? Will Eclipse generate a makefile for us when we have multiple source codes to compile? How?
    Looking forward to answers...

Week 4

Targets

  • Make the robot turn around at the corner.


Step 1 employ ROS package gmapping to build 2D map using odometry and laser data (done).

  • Note: Since gmapping need the frame relationship between odom and base_link and there is no odom frame in jazz simulator, codes are added to publish odom frame over tf to bulid the frame to odom-->base_footprint-->base_link. After applying gmapping, the whole frame tree map-->odom-->base_footprint-->base_link-->laser can be formulated.
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