Experimental, MobileRobot, RTComponents

[RTC] SpurRTC

by  • 


Name

SpurRTC

Brief

Mobile Robot Controller using YP-Spur RT-Component.

Description

Mobile Robot Driver RT-Componet using YP-Spur

License

LGPL

Image

Language

C++

URL

https://github.com/sugarsweetrobotics/SpurRTC.git

Platform

[‘osx’, ‘win’, ‘ubuntu’]

Data In Ports

Name Type Unit Description
targetVelocity RTC::TimedVelocity2D Target Velocity of Mobile Robot (Vx, Vy, Va (=Vth))
poseUpdate RTC::TimedPose2D When this port receives Pose data, this component will update the current pose estimated from odometry.

Data Out Ports

Name Type Unit Description
currentVelocity RTC::TimedVelocity2D m/sec, rad/sec Current Velocity of Mobile Robot (Vx, Vy, Va (=Vth))
currentPose RTC::TimedPose2D m, rad Current Pose of Mobile Robot (x, y, th) estimated from odometry

Service Ports

spur

null

Name Direction Type Description
YPSpur Provided spur::YPSpur

Configurations

Name Type Default Unit Description
debug int 0 This is debug configuration. If larger than 0, console output becomes richer.
max_vel double 0.2 m/sec Maximum translational velocity of Mobile Robot.
max_acc double 0.2 m/sec^2 Maximum translational acceleration of Mobile Robot.
max_rot_vel double 0.52 rad/sec Maximum rotational velocity of Mobile Robot
max_rot_acc double 0.314 rad/sec^2 Maximum rotational acceleration of Mobile Robot

How To Build

Linux

  $ git clone https://github.com/sugarsweetrobotics/SpurRTC.git
  $ cd SpurRTC
  $ mkdir build
  $ cd build
  $ cmake ../
  $ make

Windows

  Download ZIP file from the website, and use CMake to generate VC2010 project.
  Then, open the project and build it.

How To Build in wasanbon

  $ wasanbon-admin.py package create SpurRTC_test_project # You can also use other preinstalled package 
  $ wasanbon-cd SpurRTC_test_project
  $ ./mgr.py rtc clone SpurRTC
  $ ./mgr.py rtc build SpurRTC
  $ ./mgr.py rtc run SpurRTC # To Run RTC

Profile Status

Not available

Build Status

Build in Windows

Failed (2015-01-23 10:26:04.840000)

Build in OSX

Success (2015-05-13 09:18:22.859584)

Build in Linux

Not available

Copyright

Sugar Sweet Robotics