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In this tutorial we will connect a simple controller to a robot simulated using 2-D Player/Stage simulator. The system diagram is shown below (IceGrid Registry and IceStorm are not shown).
In this tutorial we will use components which have external dependencies.
Start IceGrid Registry and IceStorm server as described in the Quick-Start Guide.
Create a new system directory and copy Orca sample files.
$ mkdir -p ~/sys/tuteteleop; cd ~/sys/tutereactive $ cp [ORCA-INSTALL]/share/orca/cfg/robot2d.cfg . $ cp [ORCA-INSTALL]/share/orca/cfg/laser2d.cfg . $ cp [ORCA-INSTALL]/share/orca/cfg/reactivewalker.cfg .
Copy Stage sample files.
$ cp -r [STAGE-SRC]/worlds .
Start up the Stage simulator with the simple world.
$ player worlds/simple.cfg
We'll use an example component ReactiveWalker. The config file which we've already copied over does not need to be modified. Start the controller component and watch the robot run (crawl) around the simulated world.
Take a look at the source files for ReactiveWalker.
Check out more Orca Tutorials.
Webmaster: Tobias Kaupp (tobasco at users.sourceforge.net)