15-494 Cognitive Robotics
We've made an upgrade to the Tekkotsu system that requires you to make some changes to your directory. Follow these easy steps:
Next, edit the file UserBehaviors.h. Delete the line beginning "<<<<<<", and then delete everything from the "=====" line to the line beginning ">>>>>>". You'll have to do this in both Part 1 and Part 2 of the Userbehaviors.h file. Also delete the references to HelloWorldBehavior in part 1 and part 2. Once you've completed these edits, type "make" to rebuild.cd ~/project rm Startup* cvs update -dP
From now on, your code should be written as MyCoolThing.cc.fsm instead of MyCoolThing.h.fsm. You will no longer add anything to UserBehaviors.h. Instead, at the end of MyCoolThing.cc.fsm add the following line:
The advantage of this new scheme is that all your behaviors compile as individual .cc files, so editing one won't cause the Makefile to recompile everything. So compiles will be faster. Also, model-specific behaviors can test the target model right in the source file, instead of forcing the user to include those tests in the UserBehaviors.h file.REGISTER_BEHAVIOR(MyCoolThing);
Part I: Localization With the Particle Filter
In this part of the lab you will create a world map, then move the robot to another location, build a local map, and use the particle filter to estimate where the robot is on the world map.
Start with the file Lab6a.cc.fsm. Arrange three plastic easter egg halves in an L-shape, with adjacent easter eggs about 100 mm apart. Use at least two different colors. Be sure to do "gettekkotsu" at the start of the lab so you are using the current versin of libtekkotsu.so. Compile and run the Lab6a behavior and observe the robot performing a visual search for the landmarks. Examine the world map to see what the MapBuilder found.
Move the robot to a slightly different location. Then type
Hand in: snapshots of your local map and the corresponding world map. You can use the "Save Image" button in the SketchGUI to save a picture of the local map or world map.
Part II: Exploring the Walk Parameters
In this section we will experiment with the parameters controlling the Chiara's walk engine. Place the robot on the floor for this exercise. Instead of using the Walk Remote Control, go to Root Control > File Access > XWalk Edit. When the robot stands up, its initial leg placement is not very good, and this will eventually cause servos to overheat unless you move the robot to a more comfortable position.. To do this, have the robot walk forward a few steps. Then try the following exercises:
Part III: Find and Knock Down A Green Pillar
The Pilot can be used to search for an object by performing a map building operation. If the desired object isn't found, the Pilot can rotate the body and try again. Since the Pilot doesn't know what we're searching for, we must supply an exitTest() function to tell it when to stop searching. In this exercise we're going to look around for green blobs, and then try to run over the biggest one.
Compile the file Lab6b.cc.fsm. Use an upright green soda bottle as your search target. Try starting the Chiara close to and facing the target, and see how well it can do at knocking it over. Then try starting the robot from further away from the target, and see if it can find it.
Dave Touretzky and Ethan Tira-Thompson