SimulatorDocumentation¶
Scout Simulator is in Scout/scoutsim in the repository.
It's based off of ROS's turtlesim and will simulate Scout in a 2D environment.
Not much is here yet. For now, you should look at how the simulator fits into the system at Scout OS Organization.
The next things for Priya to do:¶
- Write documentation for writing a behavior
TODO list:¶
- Figure out/delete/use the "messages" folder.
- Write a sonar debug ROS node which watches the sonar and displays a circle chart
- Write a teleop ROS node to control a sim or real robot via the keyboard
- Finish creating Control classes and make sure they take the scoutname parameter.
- Write simulator code to get sonar readings.
- This requires projecting imaginary sonar measurements away from the scout
- Check collisions with walls and with the positions of the sim's list of robots
- Check getNumSubscribers in publishers to avoid doing extra work
- Add noise
- Write simulator code to simulate all other Scout sensors
- Make a way to create obstacles in scoutsim, check for collisions with the robot and with sonar
- Make a far easier (gui?) way to set up and launch scoutsim
- Get top-view scout images. This should be done from dshope's solidworks model.
- However, the images should be edited so that scout numbers (1-16) are prominently displayed on the robot.
- Save into the scoutsim/images folder with appropriate names, and allow scoutsim to use these images.
- Clean up code to follow coding guidelines! Add nice comments!
To revisit:¶
- Check out stage
- Should libscout be renamed?
- We may want to avoid #defines. Revisit this discussion later.
- Pre-commit hooks. I wrote one to help with my dealing with licensing info.