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In this tutorial we will teleoperate 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/tuteteleop $ cp [ORCA-INSTALL]/share/orca/cfg/robot2d.cfg . $ cp [ORCA-INSTALL]/share/orca/cfg/teleop.cfg .
Copy Stage sample files.
$ cp -r [STAGE-SRC]/worlds .
Start up the Stage simulator with the simple world.
$ player worlds/simple.cfg
We're now going to set up the low level control to the actuators for the simulated robot using the Robot2d component. The
Keyboard command options are printed to the screen. Give the robot a motion command by typing in this terminal and watch it move in the Stage GUI.
You'll see a simple feedback in this terminal:
Take a look at the configuration files to understand how this system was setup.
Check out more Orca Tutorials.
Webmaster: Tobias Kaupp (tobasco at users.sourceforge.net)