Group: Jean-Luc Nacif Coelho - 2011049207 André Lloyd Harder - 2011048910
Makefile commands:
make: Copies relevant files to catkin workspace (must be in ~/catkin_ws) and runs catkin make.
make clean: Cleans up files from catkin workspace.
make run: Runs RRT algoritm with world 3. To change run settings modify run.sh. Please note that no specification for make run was provided.
How to run:
1- Run roscore in the backgound. 2- Run stageros to set up world: rosrun stage_ros stageros [world_location] 3- Run controller: Format: (1) rosrun tp1 control [origin x] [origin y] [Sensitivity] "omni" [KP] [KD] [KI] (2) rosrun tp1 control [origin x] [origin y] [Sensitivity] "diff" [KR] [KA] [KL] [KW] Note: Suggested 1 0 0 for KP, KD and KI respectively. Note: Suggested 1 9 1 1 for KR, KA, KL and KW respectively 4- Run path finder: Format: (1) rosrun tp1 path [srcX] [srcY] [dstX] [dstY] [pgm file] [padding] RRT (2) rosrun tp1 path [srcX] [srcY] [dstX] [dstY] [pgm file] [padding] VisibilityGraph Note: Suggested 5 for padding
make run runs run.sh which has the following format:
roscore & sleep 2; rosrun stage_ros stageros $HOME/catkin_ws/src/tp1/world/omniworld_3.world & sleep 5; rosrun tp1 control 2 2 0.7 omni 1 0 0 & sleep 5; rosrun tp1 path 20 20 220 20 src/tp1/world/tp1_floor3.pgm 7 RRT
which is equivalent to:
roscore & sleep 2; rosrun stage_ros stageros $HOME/catkin_ws/src/tp1/world/omniworld_3.world & sleep 5; rosrun tp1 control [origin x] [origin y] [Sensitivity] [controller_type] [KP] [KD] [KI] & sleep 5; rosrun tp1 path [srcX] [srcY] [dstX] [dstY] [pgm file] [padding] [pathing_type]
if you would like to run the path finder through make run, just change the parameters in the file.