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root / scout / scoutsim / src @ 28999371

# Date Author Comment
28999371 11/17/2012 03:40 am Alex Zirbel

Little cleanups.

4918cbee 11/17/2012 03:22 am Alex Zirbel

Merge branch 'master' of ssh://


04114d13 11/17/2012 03:21 am Alex Zirbel

Fixed teleop with new units, and changes the refresh rate to be closer to true m/s.

25694a03 11/17/2012 02:29 am Priya

Changes so that scout1 automatically spawns upon creation of the
simulator environment, and that line follow just continuously follows
lines instead of prior line-following-capability testing code.

ddfeb111 11/17/2012 02:15 am Priya

Fixing bugs with ghost scout (these were problems in odometry related
to constants in the simulator and coordinate frame and theta representation
in the simulator). Also made ghost scout translucent in order to differentiate

35d1885f 11/17/2012 01:16 am Alex Zirbel

Merge branch 'master' of ssh://


6257c97d 11/17/2012 01:15 am Alex Zirbel

Continuing work on standardization of units.

0ccfc42d 11/16/2012 07:40 pm Priya

Files that add ghost scout.

0e916314 11/16/2012 07:07 pm Priya

Merge branch 'master' of ssh://

0e0ef125 11/16/2012 07:06 pm Priya

Changes to add ghost scout to sim frame and make it show up on the simulator.
Currently the functionality for killing scouts does not kill the ghost scout. That needs to be fixed eventually.

96ec9388 11/16/2012 06:55 pm Hui Jun Tay

Merge branch 'master' of ssh://


eb9cff77 11/16/2012 06:44 pm Hui Jun Tay

Fixed sonar bug (corrected y direction)
Added sonar_toggle and set_scan command and callbacks
Cleaned up sonar_visual toggle code

16097fcf 11/16/2012 06:34 pm Priya

Added header guards to scout constants.

c63c9752 11/12/2012 09:40 pm Alex Zirbel

Scoutsim now has consistent units of m and m/s.

This will cause some problems.

  • Behaviors which relied on the old units will have to change. We need to change the Control classes to scale things right.
  • Encoder ticks are almost fixed, but not quite right (I think because of a rounding problem)....
0076084e 11/12/2012 06:55 pm Alex Zirbel

Fluidified fluid teleop.

d34f8273 11/12/2012 06:54 pm Alex Zirbel

Removed the initial default scout spawn.

This should be taken care of by the GUI or launch file somehow.

594c3bb9 11/12/2012 06:52 pm Alex Zirbel

Loads specific images for each scout if they exist

Otherwise, looks in the images folder for scout.png.
Added a few default scouts with numbers, and the xcf files they were created from.

b1fdaaf6 11/09/2012 06:11 pm Hui Jun Tay

Added toggle for Sonar. Added backsonar indicate
-Sonar can be toggled under Sim -> Sonar
-Front and Back onars now display most recent scan point as a green dot

68b23184 11/02/2012 01:03 pm viki

Scoutsim: Added Sonar Toggle

Sonar display can now be toggled via Menu->Sim->Sonar

0e77683c 10/28/2012 09:24 pm Alex Zirbel

Added built-in scoutsim teleop!

759ac4fc 10/28/2012 07:48 pm Alex Zirbel

Merge branch 'master' of ssh://

e2770306 10/28/2012 07:48 pm Alex Zirbel

Generate a blank image for lines/walls if one doesn't exist.

6639ce9c 10/28/2012 05:58 pm viki

Edited Sonar to display points on simulator.

Changed rate of sonar scan to 0.5s
Made a new wxDC graphics object for sonar

71e1154d 10/26/2012 06:20 pm Alex Zirbel

Sonar works!

Also added new testing files for sonar - maps/racetest*.bmp

a2e6bd4c 10/25/2012 10:02 pm Alex Zirbel

Added sonar, though it looks buggy.

Use sonar_viz to continue debugging and make sonar work!

7ffad595 10/07/2012 11:12 pm Alex Zirbel

Added walls to the scoutsim visualizer.

1d1281cc 10/07/2012 07:10 pm Priya

Broke the build and then fixed it. Now onto testing!

993bf085 10/07/2012 07:00 pm Priya

Merge branch 'master' of ssh://

82f3f746 10/07/2012 06:59 pm Priya

Added wireless handling to scoutsim. Untested.

23b8119f 10/07/2012 06:53 pm Alex Zirbel

Just commented out a line of unused code.

da08d580 05/08/2012 10:42 pm Alex Zirbel

Added launch files for the demo and made a little change to the
argument checker to make them work.

2bd58ddb 04/14/2012 06:03 pm roboclub

updated teleop; now works for multiple scoutsim robots

4c495190 04/10/2012 05:45 pm roboclub

reduced teleop delay, scout drives forward now

86222358 04/10/2012 05:24 pm roboclub

really really fixing teleop this time

80c7ac0b 04/10/2012 05:16 pm roboclub

Merge branch 'master' of ssh://

9bde6dd9 04/10/2012 05:16 pm roboclub

fixed incorrect delay in teleop yay

5866cb38 04/10/2012 04:59 pm Alex Zirbel

Linesensor tested and done!

ade1b7f9 04/10/2012 04:53 pm Alex Zirbel

Basic line sensor readings!

af0d9743 04/09/2012 08:00 pm Alex Zirbel

Added template linesensors to scoutsim

e1d66e9a 04/07/2012 07:17 pm roboclub

splitting up teleop into two separate processes, delay is in the wrong place whoops

5e2c3dc1 03/26/2012 04:51 pm Alex Zirbel

New scout images.

2eaafff2 03/25/2012 12:21 am Alex Zirbel

Added maps and menus in scoutsim.

Menu options for about, quit, clear, and viewing different maps.

d47defa6 03/03/2012 08:20 pm Alex Zirbel

Added scoutsim_internal file.

e3f69e61 03/03/2012 06:21 pm Alex Zirbel

Fixed up scoutsim package. Sorry.

f79fbce2 02/25/2012 06:23 pm Priya

Merge branch 'master' of ssh://


8f030bc3 02/25/2012 06:20 pm Priya

Commiting pseudo-Gaussian random noise generator. Tested and works.

9b3564f3 02/25/2012 05:40 pm Alex Zirbel

Sonar prototypes in scoutsim package.

aa5e4ddc 02/14/2012 06:15 pm Leon

Finishing BFS for behaviors navigationMap. Also commiting teleop skeleton code.

9f547ef7 01/28/2012 04:58 pm Alex Zirbel

Added scoutsim support for encoders.

To see the query_encoders.srv (used for accessing this data) in action, use: rosrun libscout test_encoders. You will see a stream of encoder data.

94a3af93 01/24/2012 04:06 pm Priya

Committing changes that were not previously committed. Also got rid of some confusing/unnecessary code.

50557e88 01/07/2012 05:10 pm Alex Zirbel

Added scout_constants.h to scoutsim

Previously missing file in last commit.

4612f7e4 01/05/2012 12:58 am Alex Zirbel

Fixed the scoutsim node.

Just a couple bugs. All the nodes compile now! You can run "rosmake" from the "scout" directory (compile the whole stack).

c492be62 01/03/2012 11:41 pm Alex Zirbel

Updated the licensing information in many files.

This is a broken commit because I decided to do this at a bad time. Sorry! The build will be working after next commit, I promise (and I won't push till then). This commit reflects the licensing in the files after I used my auto-add/remove script.

144137a1 12/26/2011 04:15 pm Alex Zirbel

Got motor control working with scoutsim

Behaviors can now use the MotorControl class to change the speed of the motors in the simulator. The simulator correctly handles the command.
At the moment, the set_motors command is limited to 'scout1'. We should look into prefixes to specify which scout (scout1, scout2, etc) each behavior should command....

a8480867 12/04/2011 01:17 am Alex Zirbel

Made a lot of changes to the general structure.

Applied object-orienting techniques to the code, cleaning it up considerably. Major design changes are as follows:

  • All separate node code (ie motors) are meant to only interface with hardware - doing as little logic as possible....
dec96050 11/27/2011 12:25 am Priya

Made libscout compile. Changed behavior.cpp to set motors to the same speed in order to test simulator code.

266ae7f2 11/26/2011 09:43 pm Alex Zirbel

Added a template scout simulator class.

Scoutsim is modeled directly from turtlesim. At this point, the only changes are in names and indentation. A separate licensing file was also added to get rid of the junk at the top of the old turtlesim files.