also known as DQPID
This branch does velocity control of the mobile.
- Ros indigo
- numpy
- python 2.7
- Pionner 3at
- Husky from clear path
- Ictiobot
- drone (using hector_quadrotor)
- gym inverted pendulum
python main.py
In main.py there is a variable called platform. By assigning to this variable the available robots in the robot dictionary, the algorithm will run it accordingly, with the parameters configured in the dictionary.
Into the catkin workspace clone
git clone https://github.com/MobileRobots/amr-ros-config
then you can launch an example scenery as:
roslaunch amr_robots_gazebo example-pioneer3at-terrainworld.launch
Source: https://github.com/MobileRobots/amr-ros-config
follow tutorial on: http://www.clearpathrobotics.com/assets/guides/husky/HuskyMove.html
and then launch with
roslaunch husky_gazebo husky_playpen.launch
Clone to your catkin workspace the hector quadrotor
git clone https://github.com/tu-darmstadt-ros-pkg/hector_quadrotor
then you can launch an example:
roslaunch hector_quadrotor_gazebo quadrotor_empty_world.launch
Sorry this model is not available for the general domain.
In your coputer, connect to pioneer:
ssh pioneer@192.168.0.27
then launch everything:
cd bin
./enPioneer_Pausado
Wait. and then you can check that everything is working by running some ros command, ie:
rostopic list
then open another terminal in your computer, and export the ROS variables, to connect with the master running on pioneer
export ROS_MASTER_URI=http://192.168.0.27:11311
export ROS_IP=your_computer_ip
After that you are ready to run the algorithm
python main.py
if during operations you press the button, you can reactive motors by using
rosservice set /RosAria/enable_motors