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


Ignore:
Timestamp:
Aug 31, 2007, 6:04:01 PM (13 years ago)
Author:
aniket
Comment:

Legend:

Unmodified
Added
Removed
Modified
  • Old/Robot/robothandbook

    v41 v42  
    165165
    166166
     167= Behaviors =
     168
     169Behaviors are xml files which control the robot. There are two types of xml files to consider: behavior networks and behavior schemes.
     170
     171Behavior networks are completed behavior definitions. They are edited using the behavior composer, which is a java program that can be started using this command
     172{{{
     173$ composer.sh
     174}}}
     175
     176The behavior composer is a drag-and-drop interface which allows for easy manipulation of behaviors networks.
     177
     178To execute a behavior network, use the behave command:
     179{{{
     180$ behave some_network.xml
     181}}}
     182
     183Behavior schemes are the building blocks of a behavior network. Behavior schemes must be located in one of the following directories:
     184{{{
     185/opt/evolution_robotics/config/behaviors
     186/home/vamsi/samples/config/behaviors
     187}}}
     188(Note: Both of these are subdirectories of evolution's config directories. You can see which config directories are defined using $ echo $EVOLUTION_CONFIG)
     189
     190In 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.
     191
     192The c++ library should be located in
     193{{{
     194/opt/evolution_robotics/lib
     195}}}
     196
     197For 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.
     198
     199Each 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".
     200
    167201= Using the Grid =
    168202
     
    203237}}}
    204238
    205 = Behaviors =
    206 
    207 Behaviors are xml files which control the robot. There are two types of xml files to consider: behavior networks and behavior schemes.
    208 
    209 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
    210 {{{
    211 $ composer.sh
    212 }}}
    213 
    214 The behavior composer is a drag-and-drop interface which allows for easy manipulation of behaviors networks.
    215 
    216 To execute a behavior network, use the behave command:
    217 {{{
    218 $ behave some_network.xml
    219 }}}
    220 
    221 Behavior schemes are the building blocks of a behavior network. Behavior schemes must be located in one of the following directories:
    222 {{{
    223 /opt/evolution_robotics/config/behaviors
    224 /home/vamsi/samples/config/behaviors
    225 }}}
    226 (Note: Both of these are subdirectories of evolution's config directories. You can see which config directories are defined using $ echo $EVOLUTION_CONFIG)
    227 
    228 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.
    229 
    230 The c++ library should be located in
    231 {{{
    232 /opt/evolution_robotics/lib
    233 }}}
    234 
    235 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.
    236 
    237 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".