/mrpt_vrep_remoteapi

Primary LanguageC++BSD 3-Clause "New" or "Revised" LicenseBSD-3-Clause

mrpt_vrep_bridge

This package is a work in progress. Functionality advertised in the README file probably won't work or may be buggy.

Description

This repository provides packages and tools for interfacing the Mobile Robot Programming Toolkit (MRPT) with the V-REP robotics simulator. Following is a list of the functionalities that it provides:

  • Remote API for MRPT Graphslam.
  • TODO
  • ...

Project layout:

TODO - Describe the layout of each one of the libraries as well as the functionality of each one of its subdirectories

Installation

export VREP="path to VREP"
  • Build with cmake
mkdir build && cd build
cmake ..
make

Usage

###To run GraphSlam Remote API###

  • Run an instance of VREP and load a scene with a fast hokuyu laser scanner.
  • Edit the script of the hokuyu laser by changing the contents of the child script with the one located in mrpt_graphslam_2d/lua_scripts
  • Run the executable built by
./graphslamapi node_reg edge_reg optimizer configuration_file

The api has been tested with the following specifications: * NodeRegistrationDecider : CFixedIntervalsNRD * EdgeRegistrationDecider : CICPGoodnessERD * Optimizer : CLevMarqGSO

Notes

  • Code targets exclusively the MRPT-2.x code. No backwards compatibility with MRPT 1.5 is provided.

Demos

TODO

Contributing

Code in the current repo abides to the same guidelines as MRPT.

On using the git VCS, do have the following bullet points in mind:

  1. Separate subject from body with a blank line
  2. Limit the subject line to 50 characters
  3. Capitalize the subject line
  4. Do not end the subject line with a period
  5. Use the imperative mood in the subject line
  6. Wrap the body at 72 characters
  7. Use the body to explain what and why vs. how

For more details about the desired style of git commit messages have a read at these articles: