Changes between Version 41 and Version 42 of Old/Robot/robothandbook

Timestamp:

Aug 31, 2007, 6:04:01 PM (18 years ago)

Author:

aniket

Comment:

—

Old/Robot/robothandbook

@@ -165 +165 @@
 
 
+= Behaviors =
+
+Behaviors are xml files which control the robot. There are two types of xml files to consider: behavior networks and behavior schemes.
+
+Behavior networks are completed behavior definitions. They are edited using the behavior composer, which is a java program that can be started using this command
+{{{
+$ composer.sh
+}}}
+
+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:
+{{{
+/opt/evolution_robotics/config/behaviors
+/home/vamsi/samples/config/behaviors
+}}}
+(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".
+
 = Using the Grid =
 
@@ -203 +237 @@
 }}}
 
-= Behaviors =
-
-Behaviors are xml files which control the robot. There are two types of xml files to consider: behavior networks and behavior schemes.
-
-Behavior networks are completed behavior definitions. They are edited using the behavior composer, which is a java program that can be started using this command
-{{{
-$ composer.sh
-}}}
-
-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:
-{{{
-/opt/evolution_robotics/config/behaviors
-/home/vamsi/samples/config/behaviors
-}}}
-(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".