Assistance needed for project continuation
Please consider my project athttp://tnt.drivehq.com/SenonTupa.rar.
We are 2 students of Robotics Engineering and we are working in a Graduation Project of simulation of swarm robot.
The objective of the project is to implement the movement of the swarm to spread in an environment; the project is only of simulation in the MS Robotics Studio.
We believe that we made good part of the configuration of the Robotics Studio, but we are having great difficulty in some topics. Unfortunately we spent much time excessively in the configuration of the Robotics Studio; we are losing time that necessary for the implementation of the algorithm of movement itself. I cannot lose more time with the configuration; we have to finish this in the next days. If delay more in this configuration we will not be able to develop the movement algorithm in time, what is the essential part of our work. Perhaps this configuration is something very simple to make, but the tutorial of robotics studio not aid very much.
We would like to know if someone could aid us to finish these configurations that lack, we are not obtaining more progress.
Thanks a lot.
Tupa Negreiros
The Visual Studio solution has the main simulation project (SenonTupa) and copies of SimulatedWebCam (Camera), SimulatedLRF, but with InfraRed parameters (Infravermelho) and SimulatedDifferentialDrive (MotorDiferencial). It was made in Robotics Studio version 1.5.
Configuration items needed in project:
- Config the robot physics. It has some strange boxes in physics render that makes it3 cm over the floor. Need to get rid of these boxes.
- The robot has 4 Infrared Sensors, one each side of it. I made quaternion poses for the sensors, but seems like Robotics Studio is not interpreting these sensors rotations. Need to put the sensors in each side of the robot.
- Is not possible to access robots services and make robot movements through SimpleDashboard windows. Maybe is some code missing, but I’ve tried everything.
- There is a red alert in the SimulatedWebCam (Camera) service. I don’t understand what the matter is; I simple copied the code with no changes from SimulatedWebCam service.
- The SimulatedDifferentialDrive (MotorDiferencial) service needs a posistion encoder code. I don’t know where to put it. It update current position by adding rotate/move commands. If is not possible to do that encoder, I will get the position from Robo.State.Pose.Position.
- Need to create another project in the solution for control of the robots services. I can’t understand how to do this in Robotics Studio.The tutorials don’t aid.
The project that control the robots need to interpret the following functions:
- vector3 Position (int Robot):Get the current relative position of one robot from the DifferentialDrive Encoder.
- float SensorRead(int Robot, char Side):Get the current infrared sensor read of one sensor in one robot. The char should be ‘f’ for front sensor, ‘b’ for back sensor, whatever. Like the sensor is infrared, it only needs to get the distance from the obstacle the sensor detects. If none detection is possible the sensor should return -1.
- void Move(int Robot, float distance):Make one robot move for determined distance. Positive number should be forward and negatives, backward.
- void Rotate(int Robot, float Angle):Make one robot rotate for determined angle. Positive number should be CCW and negatives, CW.
