| Branch: | Revision:

root / scout @ 2237e1f0

# Date Author Comment
2237e1f0 02/25/2013 07:37 PM Thomas Mullins

Changed motor max speed and added constants in set_motors.msg

The new speed range is -100 to 100, to be consistent with the pwm
driver. They can be accessed with motors::set_motors::MIN_SPEED and
motors::set_motors::MAX_SPEED respectively.

2e8030ea 02/24/2013 03:11 PM Priya

Merge branch 'master' of ssh://


dcf49526 02/24/2013 03:08 PM Priya

Overwrote the ROS sigint handler so now behaviours stop and die and stop motors upon exiting.

1e52c76b 02/24/2013 02:01 PM Yuyang Guo

fixed died rosnode kill and added sonar viz

414d2b48 02/19/2013 11:32 PM Alex Zirbel

Updated line follow code to make turns for Lab 2.

Also upgraded at_destination and LineSensor::destination() for Intro Lab 2.

af7e0f94 02/19/2013 06:18 PM Alex Zirbel

Added new at_destination functionality.

Maze turns are buggy and are the next order of business.

40659cb8 02/17/2013 03:57 PM Colony Scout

More fixes to launch scripts (poorly written by Tom ;)

0fb861bc 02/17/2013 03:48 PM Thomas Mullins

Merge branch 'master' of ssh://

e203e719 02/17/2013 03:48 PM Thomas Mullins

Fixed launch script error

92019044 02/17/2013 03:44 PM Hui Jun Tay

Merge branch 'master' of ssh://

c06735bb 02/17/2013 03:42 PM Hui Jun Tay

Removed headers, sonar uses custom timestamp, added code to manually update timestamp

9873e344 02/17/2013 03:21 PM Yuyang Guo

changed GUI according to the new order to conform to
"rosrun libscout libscout <behavior#> <scoutname>"

94ec93e0 02/17/2013 03:18 PM Yuyang Guo

Merge branch 'master' of ssh://

c467de4f 02/17/2013 03:16 PM Yuyang Guo

running libscout behaviors without specifying a name should
make everything publish directly (e.g., to /set_motor instead of
/scout1/set_motor) and thus should work on hardware.

d2acabf3 02/17/2013 03:04 PM Thomas Mullins

Added rosscout.launch in libscout

On startup, it will now launch rosscout instead of rosserial. rosscout
includes rosserial, motors, encoders, and any other helper nodes added

679f4e26 02/17/2013 02:17 PM Priya

Freeing memory we allocate. Yay!

6ee555a3 02/14/2013 01:44 PM Priya

Changed scout constants to refresh faster. Also retuned linefollowing for faster refresh rate.

fa857318 02/13/2013 08:53 PM Priya

Fixed bugs with how the simulator was doing math for pose estimation.

ab8736ac 02/13/2013 01:00 AM Yuyang Guo

added teleop to GUI, should be able to choose which scout to control now

9a4d8398 02/13/2013 12:22 AM Yuyang Guo

New GUI should be working now! (run, pause resume should all work
pretty robustly). Teleop is not working yet...

01f09975 02/12/2013 04:29 PM Yuyang Guo

Partially done GUI rewriting GUI
now can only add and kill scouts freely but can do nothing else

8deb8e3f 02/10/2013 03:09 PM Priya

Merge branch 'master' of ssh://

35a71cce 02/10/2013 03:08 PM Priya

Adding 3 line following maps to the repository.

60a90290 02/10/2013 02:36 PM Hui Jun Tay

\Fixed teleop to work with behaviors. Teleop currently has priority over behaviors

164c2505 02/03/2013 06:47 PM Priya

Merge branch 'master' of ssh://

fa5ca6e3 02/03/2013 06:46 PM Priya

Fixed pause not working with the GUI. Also removed super annoying printf from MotorControl. And also fixed some pause/resume GUI bugs and the fact that process.kill and process.terminate wouldnt do anything.

3493418f 02/03/2013 06:07 PM Alex Zirbel

Removed 'priya_draw_name' include from BehaviorList.

e117f879 02/03/2013 05:32 PM Alex Zirbel

Merge branch 'master' of ssh://

b4865319 02/03/2013 05:28 PM Alex Zirbel

Adding to recursively clean subdirectories.

80224838 02/03/2013 05:16 PM Priya

Hacky fix to pause to work around issue that sending motor commands sometimes does nothing.

c15f2677 02/03/2013 04:54 PM Priya

Merge branch 'master' of ssh://

faa11f08 02/03/2013 04:54 PM Priya

Changed it so that all behaviors are not instantiated immediately. Also changed pause so it does not spam (0, 0) motor speeds.

07121480 02/03/2013 03:53 PM Alex Zirbel

Merge branch 'master' of ssh://

d2dedb17 02/03/2013 03:53 PM Alex Zirbel

Bugfix to BehaviorGUI causing crashes.

360e3b6c 01/30/2013 08:09 PM Thomas Mullins

Fixed segfault from LinesensorControl when the service call failed

cfdb3afa 01/29/2013 07:18 PM Alex Zirbel

Added latching to publishers so the first message gets noticed.

f325b893 01/06/2013 06:50 PM Alex Zirbel

Added conversions abs_to_rel and rel_to_abs.

Also, added warnings after these conversions in the case that a requested speed has to be cropped.

Tested against a temporary behavior which set the speeds (now removed since it's very easy to write such a test behavior).

4e393fcc 01/04/2013 05:46 PM Alex Zirbel

Added code for unit conversion, pending tests.

f3549f76 01/04/2013 04:07 PM Alex Zirbel

Merge branch 'master' of ssh://

9d9e04ba 01/04/2013 04:06 PM Alex Zirbel

Old little changes to sonar.

4807b056 12/30/2012 12:08 PM Priya

Adding a Priya custom scout.

493cc515 12/09/2012 06:12 PM Thomas Mullins

Removed unnecessary extra code in motors node (oops!)

fcd68ec1 12/09/2012 06:12 PM Thomas Mullins

Fixed whitespace in motors node

8913c26d 12/09/2012 06:09 PM Thomas Mullins

Fixed motors node to work around pwm driver bug

The node can now only do writes to /dev/pwm*, because doing both reads
and writes causes the fstream to try seeking, which fails because it's
not supported by the driver. Then the fstream refuses to do any more io.

da8ace01 12/07/2012 05:21 PM Matt Bryant

Changed some more stuff, broke running things.

ca50f11f 12/05/2012 06:14 PM Matt Bryant

Merge branch 'master' of ssh://

8fa2bd2e 12/05/2012 06:14 PM Matt Bryant

Probably fixed the crashing bugs. Implemented floating point pickers.

c840fbe6 12/02/2012 07:36 PM Priya

Changed linefollowing so that turns start working once again. Also fixed some bugs with maze solving.

e6633046 12/02/2012 07:06 PM Priya

Merge branch 'master' of ssh://

dd065971 12/02/2012 07:06 PM Alex Zirbel

Fixed sonar out of range bug. Max range now at 9.144 m.

2b0c2534 12/02/2012 07:06 PM Priya

Called spinOnce to update sonar readings.

da0e1359 12/02/2012 06:20 PM Alex Zirbel

Nicer look for maze map.

7a2222fc 12/02/2012 05:50 PM Alex Zirbel

Added new services.

d4fc11f1 12/02/2012 05:49 PM Alex Zirbel

Merge branch 'master' of ssh://

a2b7e8f1 12/02/2012 05:47 PM Priya

Registered a default callback for wireless receiver. Also added default virtual constructor.

18d28a5f 12/02/2012 05:32 PM Alex Zirbel

Added a maze map.

754da79f 12/02/2012 05:18 PM Priya

Added the behavior to behavior list and cmakelists and made things compile.

391cd472 12/02/2012 05:03 PM Priya

Merge branch 'master' of ssh://

f878b5f9 12/02/2012 05:03 PM Priya

Finished writing up the maze solving behavior.

e5ac3afb 12/02/2012 04:51 PM Alex Zirbel

Updated sonar so it broadcasts readings in mm as specified.

321961ca 12/02/2012 04:45 PM Alex Zirbel

Removed old teleop.

34a600c5 12/02/2012 04:43 PM Alex Zirbel

Changed documentation: sonar pos 0 is on the right

093a1aea 12/02/2012 04:24 PM Alex Zirbel

"Fixed" the sonar bug.

Turns out the sonar just wasn't set to on by default, so nothing was being visualized.
Changed it so the sonar is on by default.
We should probably make it more clear when the sonar is off.

43811241 12/01/2012 07:04 PM Alex Zirbel

Added services to set individual control for visualization tools.

However, there is a bug in the sonar viz for multiple scouts, looking into it now.

a0928f39 12/01/2012 05:11 PM Alex Zirbel

Merge branch 'master' of ssh://


9cb9623b 12/01/2012 05:10 PM Alex Zirbel

Working on turning sonar on and off for robots individually.

64ee446f 12/01/2012 01:10 AM Yuyang

a poor barebone of maze_solve that I wasn't able to finish

7f095440 11/30/2012 07:55 PM Priya

Sepearated refresh rate for scouts and for the simulator.

6fab3966 11/30/2012 07:21 PM Alex Zirbel

Fixed the line following code.

Now works with new units
Fixed a bug with reading the line location, correctly centering the line between -3.5 and 3.5 rather than -4 and 3.
Also fixed a bug caused by overflow in absolute speeds sent to motor control, which fixed bouncing in line following.

ade4f3be 11/30/2012 04:59 PM Priya

Removed a ROS_INFO from ghost scout file.

01aa3b6f 11/19/2012 03:13 PM Thomas Mullins

Merge branch 'master' of ssh://

cccfdc54 11/19/2012 02:51 PM Thomas Mullins

Changed sonar to use 16 bit values, not 8

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.

73adca60 11/17/2012 01:15 AM Alex Zirbel


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.

30a3768e 11/16/2012 05:45 PM Priya

Last commit did not contain changes to Odometry behavior. Gits dumb.

36664e39 11/16/2012 05:44 PM Priya

Changed Odometry to publish a ScoutPosition message with the scoutname, x, y, and theta.

f40977a9 11/16/2012 05:15 PM Alex Zirbel

Added new launch file template for scoutsim.

6e8c4ad2 11/16/2012 05:14 PM Alex Zirbel

Style changes to BehaviorGUI (line length, spacing)

39c04d7d 11/15/2012 10:03 PM Thomas Mullins

Merge branch 'master' of ssh://

05ea07c4 11/15/2012 09:38 PM Thomas Mullins

Removed Header from BOM message.

If we need a timestamp, we can add it back later. We don't need a

e2751853 11/12/2012 09:42 PM Alex Zirbel

Merge branch 'master' of ssh://

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)....
ae475e49 11/12/2012 07:46 PM Priya

Merge branch 'master' of ssh://

16d4e150 11/12/2012 07:46 PM Priya

Fixed pause and resume. Kind of. There are lots of bugs with the GUI.

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.

631b8a4c 11/12/2012 06:53 PM Alex Zirbel

Merge branch 'master' of ssh://

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.