TU e Robotics Documentation Portal

(Work in progress) #TU/e Robotics Documentation Portal# Current primary goal of these pages is to familiarize new people who are interested in TU/e Robotics with (almost) everything they need to know to get started with 'challenges'. A challenge is a prescribed set of tasks that a service robot has to be able to perform. Most challenges are described and explained in the RoboCup@Home rule book. Take a look in the 2017 Rulebook.

##Software Architecture## A general overview of all the software repositories involved in making Amigo and Sergio do their things is shown in this figure: The Software Architecture. It clearly shows all the basic building blocks involved. Each block shows the literal names (between brackets) of the repositories involved.

The repositories can be divided in a number of categories:

• Low level control

  • amigo_hardware
  • sergio_hardware
  • rtt_control_components
  • rtt_soem
  • rtt
  • tue_ethercat_drivers
  • dashboard

• Robot configuration

  • robot_launch_files
  • amigo_bringup
  • amigo_description
  • sergio_bringup
  • sergio_description

• World model

  • ar_marker_detector
  • ed
  • ed_gui_server
  • ed_perception
  • ed_localization
  • ed_navigation
  • ed_object_models
  • ed_robocup
  • ed_rviz_plugins
  • ed_sensor_integration
  • ed_tutorials
  • qr_detector_zbar

• Manipulation

• Navigation

• Head movement

• Skills

• Services

• Libraries

• Drivers

• Development

• Simulation

• Visualization and GUI's

• Misc