![]() ![]() optitrack, to export the motion capture data to the genom software stack.pom, a UKF-based state estimator merging state feedback for different sources (e.g.It makes the transition between simulation and experiment transparent, from the software point of view. the real aerial vehicles used in LAAS-CNRS. It is design to be a transparent interface w.r.t. The TeleKyb software platform provides the aerial-robotic oriented softwares developped at LAAS-CNRS. ROS, on the other hand, uses a network layer for sending messages between nodes, this leads to greater delays and loss of performances. It aims at being lighter and faster than ROS, when running on a single machine, thanks to the exploitation of shared memory. Originally GenoM has been developed tightly with Pocolibs, then from version 3, aka GenoM3, ROS templates has been provided.Īnother specificity of GenoM is the interaction with and between components.Įach component is started independantly like a linux executable (within a roscore, for ROS, or a h2 intance, for Pocolibs), then the connection between ports (or topics) is made using a supervisor, Genomix, either with Matlab or TCL. This allows a great code re-usability and to abstract the user from any specific choice of a middleware. the same module can be compiled for, e.g., ROS, YARP, or Pocolibs, without any modification. GenoM is a generator of modules, designed to be middleware independant, i.e. We will use robotpkg to install the required modules for the simulations (state estimation, gazebo interface.) as well as third-party dependencies (qpOases). Robotpkg is a packaging system for installing robotics software developed by the robotic community. You can find more details in Openrobots Wiki-Homepage I-2. Openrobots ¶Ĭollections of all the open-source software used at LAAS. libudev-dev (could be causing dependency issues, check the "source code" box in software sources). ![]() List of dependencies (Thanks to Filippo Boldrin) ¶ Everything provided in this repo or by the LAAS-CNRS robotic platform aims to be installed locally in the repository folder to avoid polluting the user's system. apt) to install some dependencies, as well as the Gazebo simulator. The installation assumes the use of a package manager (e.g. The installation on a non-Linux OS has to be handled by the user. Some issues has been found while installing the software on Ubuntu 16.04 because of version incompatibility with Protoc and Protobuf. It should work seamlessly on a recent Linux version, but there is no guarantee. The framework has been written and tested using Ubuntu 18.04, since it is the OS used by the LAAS-CNRS robotic platform. Perceptive and torque-control NMPC wiki ¶ Prerequisite ¶ ![]()
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