Robotics

Environment

Run world without big interface

roslaunch robotics thymio_gazebo_bringup.launch name:=thymio10 world:=pink_hall gui:=false

Run world with big interface

roslaunch robotics thymio_gazebo_bringup.launch name:=thymio10 world:=pink_hall gui:=true

Robot controller

Run robot with saving data and debug on

roslaunch robotics controller.launch dataset_size:=1000 debug:=1

Run robot without saving data

roslaunch robotics controller.launch save_data:=0 

Run robot with cnn controller

roslaunch robotics cnn_controller.launch save_data:=0 

Build ros package

catkin build

re.

Scripts

• sensor_controller.py: main code .
• momevement_class.py: class use to work with odometry of the robot.
• ros_messages.py: class with all the subcribers and publishers
• sensor_class.py: class use to work with the sensor of the robot.
• interface.py: interface of the robot (plots,graphs ect...).
• model_controller.py: empty class used to try to see how to collect data (can be remove).
• controller_dot.py: alternative logic to move the robot using the sensors.
• model_controler_alt.py: alternative controller to use the CNN model.

momevement and sensor have all the functions and logic need it to work with sensors and direction of the robot.

Launch

controller.launch/ cnn_controller.launch have parameters inside to program the use of the robot:

• robot_name: name of the robot.
• instruction_path: path of the general instruction to follow. (exercise2.json default, exercise1.json is to move in a 8).
• use_sensors: flag to tell the robot if to use sensors (Close loop or Open loop).
• random_noise: flag to use the second controller to create random moves.
• save_data: flag to say if the robot gather data
• data_path: path where the robot save the data
• dataset_size: number of images to save
• debug: activate debug_mode
• debug_path: path of the logs
• model: model use
• model_path: path of the folder of the model