If you downloaded your virtual machine before November 3, 2010 execute the following:
cd /usr/local/share/gazebo/ && rm -rf AdvancedRobotics/Assignment00/ && rm -rf Assignment00.tgz* && wget --no-cache http://biorobotics.ttu.ee:60080/AdvancedRoboticsCourse/files/Assignment00.tgz && tar -zxvf Assignment00.tgz && cd AdvancedRobotics/Assignment00/ && sudo python setup00.py && sudo chmod 755 /usr/local/lib/libplayerdrivers.so.2.2.0
Enter your password when asked. You should get the following in the end:
#################
##SETUP00 IS OK##
#################
Before you can begin with this assignment, you must first complete Assignment 7.
Download file Assignment09.tgz from http://www.biorobotics.ttu.ee:60080/AdvancedRoboticsCourse/files/ and save it to
/usr/local/share/gazebo/ for further unpacking.
Open new terminal window and enter:
cd /usr/local/share/gazebo/ && tar -zxvf Assignment09.tgz
Copy fine.pgm file to Assignment09 folder
Open new terminal window and enter:
cp /usr/local/share/gazebo/AdvancedRobotics/Assignment07/fine.pgm /usr/local/share/gazebo/AdvancedRobotics/Assignment09/fine.pgm
Edit file playerD.cfg.init to change parameters for both VFH+ and AMCL drivers:
Open new terminal window and enter:
gedit /usr/local/share/gazebo/AdvancedRobotics/Assignment09/playerD.cfg.init
Open GUI and start simulation:
Open new terminal window and enter:
cd /usr/local/share/gazebo/AdvancedRobotics/Assignment09/ && python SensorShowroom.py
Press "Run" to start simulation. 2 windows will appear: Gazebo and Playernav.
Activate Playernav window. You can read about this utility here:
http://playerstage.sourceforge.net/doc/Player-2.1.0/player/group__util__playernav.html
Use this utility to drive around, try paths both with obstacles and without them, observe, how VFH+ avoids obstacles and reaches the goal.
Which paths (start and end positions) are traversable? Are there any non-traversable paths? If there is, why are they non-traversable? What are the problems of the algorithm? What could be done better?
To complete this assignment you must submit:
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It is recommended to pack all assignment files as a single archive file named FirstnameLastname_AssignmentXX.
XX is a number of the assignment (ex. JaneDoe_Assignment04.zip or JaneDoe_Assignment04+.zip for * assignments).
Only archives of type ".zip" and ".tgz" are supported.
A file can be uploaded by pressing "Add Attachments" button and selecting proper file from "My computer".
If a text is required, it must also be added (as plaintext) by entering it into "Submission" textbox, right above the "Add Attachments" button .
Don't forget to press "Submit" button to actually send it.