RobotYARP

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Please, jump to robotYARP4 wiki to get information about the current project development. robotYARP is no more maintained!!!

How to get robotYARP

you can download this project from the CVS on haydn, you just need to do

$ cvs co -d :ext:osandova@haydn.upc.es:/users/cvsroot robotYARP

Now you have the source code of the project. To compile the project you need to install all the project dependences.

# apt-get install make cmake qt3-apps-dev

Using robotYARP

An exaple of use of this project is the execution of the pathExecution component

irst we need to start the YARP server

$ yarp server

Then run the robot simulator that is located in the robotSim directory inside robotYARP. To know the parameters meaning run robotSimMain without them.

~/robotYARP/robotSim$ ./robotSimMain 1 2 7 0

If you want to see the robot simulation run

~/robotYARP/gui$ ./navigationGui

Then run the localizatioin algorithm, in this case we use the Particle Filter for localization.

~/robotYARP/localizationPF$ ./localization 0 0 localization 2 7 0 50

Now you can run the Path Executor

~/robotYARP/pathExecution$ ./MainPathExecution

AnNow the pathExecutor is sending by a YARP port local goals. You just need an local goal executor, in this case the Obstacle Avoidance

~/robotYARP/Obst_avoid$ ./ObstAvoid