Landmark Trek Demo

Current bugs or problems

How to execute this module

• Log in to Nomad20
• Make sure robotd is running as root in the background. If not, then run the daemon as follows:
  1. Log in as root
  2. cd to /Nomad200/Nomad_robot/robot-linux???
  3. run robotd &
• cd to /home/hhg/robot
• Make sure robot is under a landmark.
• run Trek <float> <float> <float>. The actual parameters are calculated by the calibration program. Parameters change with the camera configuration.
• Log in to a SGI Indy, cd to /underdog/u1/hhg/IO++/artgallery/, then run Landmark_trek.

Revision history

1. First version finished in February 6, 1996.

Ideas for improvement

• Add a motion planner to navigate automatically between any initial and final landmark positions (not just consecutive ones).
• Add local collision avoidance.

Other comments

• Make sure the landmark server and the robot daemon are running before executing Trek in Nomad20.
• Trek accepts the same parameters as the io control module. You may run the calibration program to get these parameters.
• You may attempt connection from the load option in Landmark_trek (in the SGI) once Trek identifies a landmark for the first time.