Changes between Version 40 and Version 41 of Old/Robot/robothandbook

Timestamp:

Aug 31, 2007, 6:00:23 PM (17 years ago)

Author:

aniket

Comment:

—

Old/Robot/robothandbook

@@ -214 +214 @@
 The behavior composer is a drag-and-drop interface which allows for easy manipulation of behaviors networks. 
 
+To execute a behavior network, use the behave command:
+{{{
+$ behave some_network.xml
+}}}
+
 Behavior schemes are the building blocks of a behavior network. Behavior schemes must be located in one of the following directories:
 {{{
@@ -220 +225 @@
 }}}
 (Note: Both of these are subdirectories of evolution's config directories. You can see which config directories are defined using $ echo $EVOLUTION_CONFIG)
+
+In order to create a behavior scheme, it is necessary to both create an xml file for the scheme as well as create a class in a c++ library. A new scheme file can be adapted from an existing one. 
+
+The c++ library should be located in 
+{{{
+/opt/evolution_robotics/lib
+}}}
+
+For instructions on creating a custom behavior scheme, refer to the ERSP tutorial 02-custom-behavior. The code for the library we've written (libiwBehavior.so and libbigarray.so) is located in ~/cpp/behaviors.
+
+Each behavior scheme has a "category" parameter. This parameter determines the categorization of the scheme in the behavior composer. Both of the custom schemes we've created have the category "tutorial".