Teleop
From MARIEWiki
Contents |
Description
This project is a semi-autonomous tele-operated mobile robot application. Here's the list of main requirements :
- Autonomous naviguation in faculty's corridors using a map
- Avoid objects and persons at anytime
- Wander in the environment
- Rest when nothing to do
- Can be teleoperate at anytime
- Avoid behavior can be deactivated (useful for pushing objects)
- Start/Stop software control
- Validation of the same base system with 2D simulation, 3D simulation and on a real robot (Magellan Pro).
Note : You can learn how this project have been created step by step following the Teleop Walkthrough tutorial.
Integrated Softwares
- CARMEN is used for navigation and localization
- FlowDesigner / RobotFlow implements behaviors (avoid, wander, rest) and joystick control
- Player device abstraction allows to use the same system configuration to run in simulation (Stage, Gazebo) and on a real robot (Magellan Pro)
- WxWidgets is used to create the GUI control panel
MARIE Components
Application Adapters
Communication Adapters
Communication Strategies
Datatypes
Cascading Functional Blocks
DataFlow Diagram
.pdf full size
Screenshots
1) Teleop using Stage
.jpg full size
Team
Project Leader
- Carle Côté (carle.cote@usherbrooke.ca)
Current Contributors
- Clément Raïevsky
Past Contributors
- Yannick Brosseau
- Patrick Frenette
- Dominic Létourneau
- François Michaud
Funding & Support
- LABORIUS - Research Laboratory on Mobile Robotics and Intelligent Systems, Université de Sherbrooke, Sherbrooke (Québec), Canada.
- SourceForge.net (part of OSDN, owned by VA Software Corporation)
