Drivebase.rule
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(→driveInit) |
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=====driveInit===== | =====driveInit===== | ||
| − | Defines the global variable with default values: | + | Defines the global variable with default values, e.g: |
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global.drive.pause = false | global.drive.pause = false | ||
global.drive.waitHere = true # waits in a state with low RPM | global.drive.waitHere = true # waits in a state with low RPM | ||
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global.drive.skipDestination = false | global.drive.skipDestination = false | ||
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global.drive.continueDist = 1 # continues when closer than this from next node | global.drive.continueDist = 1 # continues when closer than this from next node | ||
global.drive.holdLine = true # try hold line from last waypoint, else go direct | global.drive.holdLine = true # try hold line from last waypoint, else go direct | ||
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odoPose.tripTimeB= 0 | odoPose.tripTimeB= 0 | ||
odoPose.tripB= 0 | odoPose.tripB= 0 | ||
| − | + | ||
| − | + | The mentioned 'global.drive.XXX' variables can be set by the mission as appropriate, | |
(more to come) | (more to come) | ||
Latest revision as of 09:50, 6 November 2009
Contents |
[edit] Introduction
The drivebase rule implements a number of rules to allow a HAKO like implementation of mobotware to execute missions. The mission itself should be formed as a rule describing the mission waypoints, and may be supplemented by additional rules defining special behaviour - like speed or tool action - in e.g. geographic areas.
This description reflects the drivebase version 2.777 (6 nov 2009)
[edit] Drivebase
The drivebase is placed in the distribution at:
.../bin/conf_hako2/drivebase.rule
or it can be seen (in the 2.777 version) here
[edit] Description
The basic principle is that the mission describes the next waypoint as a target pose - in one of the allowed coordinate systems. The allowed coordinate systems are odometry, UTM (zone 33), map coordinates (that relates to the UTM coordinates with an origin in UTM coordinates).
The drivebase then converts (if needed) to odometry coordinates and requests a manoeuvre to get the robot to the requested pose. This may involve obstacle avoidance - if allowed.
The process can be paused by setting a pause flag, and a waypoint can be skipped by setting another flag.
If the waypoint is far away (typically more than 10-15m) then a carrot point is inserted about 10m from current position, but on the line described by the desired waypoint pose.
[edit] Rules
The (sub) rules implementing this behavior is as follows:
[edit] driveInit
Defines the global variable with default values, e.g:
global.drive.pause = false
global.drive.waitHere = true # waits in a state with low RPM
global.drive.skipDestination = false
global.drive.continueDist = 1 # continues when closer than this from next node
global.drive.holdLine = true # try hold line from last waypoint, else go direct
global.drive.engineRPM= 1900;
global.mission.name= 'none'
global.mission.leg= 0
odoPose.tripTimeB= 0
odoPose.tripB= 0
The mentioned 'global.drive.XXX' variables can be set by the mission as appropriate,
(more to come)
