cyberbotics / arosys Goto Github PK

Describe the Bug
Need to fix the movement by adjusting the matrix to calculate velocity.

Steps to Reproduce

1. Deploy SystemWebotsRobotino3Navigation
2. Look at the behavior of the Robotino by zooming on it (shortcut: Alt+5)

Expected behavior
If Robotino 3 has to move forward, it should not move in diagonal.

System
Virtual Image: 20191205-SmartMDSD_Toolchain_3.12_VM_Ubuntu_16.04.ova

To do:

• Check if it is possible to use official PROTOs names for robots => #46
• Verify that all systems have the simple world and the complex world with right robot and official name => #49
• Check the lidars that they are properly configured and placed in the robots => #49
• Clean the ComponentWebotsBumper when we've merged the PR => #50

For the first Milestone we should at least convert one (ideally more) component (e.g. system) to Webots.
The simpler one is the SystemLaserObstacleAvoidTiagoGazeboSimulator as it only uses the services we already have (CommNavigationVelocity and CommMobileLaserScan).

A new component should be added for the Tiago robot.

The current robot components have BatteryEventTask but it is not used.

To whom it may concern,

I am a computer science student at the Technische Universität Dresden (Germany) and I am currently working on a research project regarding Model Driven Engineering in robotics and the RobMoSys project.
As a part of my research I want to include an overview of pilot studies and pilot projects regarding RobMoSys. I have come across your project AROSYS and would love to know more about it. Specifically, I would like to know within what time frame you worked on the project and whether it was finished or is still in development.
Furthermore, I would love to know whether you could give me an outlook regarding future aspects of your project. Has the project inspired any other projects related to RobMoSys and model driven engineering?

Thank you for your time in advance and I hope to hear from you.

Kind regards

When all issues will be fixed, clean all files:

• Clean CMakeLists.txt
• Comments (remove useless, all starts with lowercase, units)
• Print all variables that are transmitted (precise "// print data to debug")
• Use only lowcase for lidar, bumper, etc in displayed messages
• Useless variables
• NAMECore.cc => Instance => instance
• Add units (CWP-Core.hh)
• In NavigationVelocityHandler.cc add units, change comments (name and data)
• Remove units in NAMECore.hh
• Verify that all components have webotsRobot in file nameCore.cc + .hh
• Indentation
• for loop as Cpp from Cyberbotics
• if... else structure as Cpp from Cyberbotics
• In .hh file, put a return between protected, private, public. Delete protected if no variable.
• One return after the last #define or #include
• One return between function except the constructor and destructor
• ROBOTINO 3 comp + system
• System/world => Verify that Lidar has noise everywhere, 640 in resolution, fov = 3.49066, min=0.1, max=10, noise =0.02
• System/world => Verify that each robot has a follow option
• Check that the model doesn't change

Things to check in SmartMDSD:

• SystemWebotsTiagoNavigation` > ComponentWebotsPioneer3DXhas no ServiceBaseStateAnswerer`

Similarly to the RobMoSys LaserLMS1xx component, the Lidar component should use an optional 'BaseStateService' inputs to set the baseState information of the laser scan.

Some old component are present on the repo, we should:

• Remove those old component not used anymore.
• Rename the used component to use better name (e.g. avoid 'test' in the name
  • ComponentWebots
  • ComponentWebotsLidar
  • ComponentWebotsObstacleAvoidance
  • ComponentWebotsPioneer3DX
  • ComponentWebotsRobotino3
  • SystemWebotsPioneer3DXNavigation
  • SystemWebotsRobotino3Navigation
• Use CamelCase format everywhere
  • ComponentWebots
  • ComponentWebotsLidar
  • ComponentWebotsObstacleAvoidance
  • ComponentWebotsPioneer3DX
  • ComponentWebotsRobotino3
  • SystemWebotsPioneer3DXNavigation
  • SystemWebotsRobotino3Navigation
• Clean files

Currently, the world loaded with Webots is hard-coded in the Webots component, this should be configurable from the system using this component.

Since the robot component are extremely similar, it would be very nice to merge them in a simple and generic ComponentWebotsRobot.

A system including at least 2 robots performing collision avoidance should be added.

All the robot component have a BaseStateQueryHandler service but it is not implemented, as all the current systems examples of RobMoSys use this service it seems very important to implement it (probably more important than #5 and #6).

The current robot component have LocalizationUpdateHandler but it is not used.

When all modifications will be done, the Wiki have to be update.

If the repository change, update 3. Clone the repository and 1. Import the components and system cloned

At the end, change the link https://github.com/DavidMansolino/AROSYS to https://github.com/cyberbotics/AROSYS in all Wiki's files

The current mechanism setting the WEBOTS_ROBOT_NAME environment variable is not working as expected resulting in failure of the controller attribution. A better mechanism should be added.

Similarly to the RobMoSys SmartGazeboBaseServer or PlayerStageSimulator component, the Pioneer component should use an 'BaseStateService' outputs to send the baseState information to the laser scan.

It would be very nice to be able to create a system to replicate the Intralogistics Industry 4.0 Robot Fleet Pilot: https://robmosys.eu/wiki/pilots:intralogistics
For this, the robotino component would need to be extended to include the top conveyor belt.

Since there was a lot improvement on the Pioneer3DX side, these have to be implemented to on the Robotino side.

• Update ComponentWebotsRobotino3
• Update SystemWebotsRobotino3Navigation
• Test SystemWebotsRobotino3Navigation