This function is used to calculate the distance of the robot to the initial line. Global initial_position_, desired_position_ The next one: distance_to_line: def distance_to_line(p0): This will be implemented on the main function. The one from the initial position to the desired one. The different is that we are not driving the robot in a straight line to the desired point, but following the original line. We have only 2 states: wall_follower and go_to_point. Global srv_client_wall_follower_, srv_client_go_to_point_ We had one like this in Bug 1, but we have different rules and states now. The first helper function is change_state. But don’t miss this part of the code: # callbacksĮuler = ler_from_quaternion(quaternion) Here we define callbacks, the very same as before, no big deal here. Very useful to test the algorithm many times in a row! They are used to restore the robot position in case you want to restart the algorithm. There are also 2 new arguments being received: initial_x and initial_y. I put some description of the states in an Array called state_desc_.
Like in Bug 1 algorithm, we are storing the state of the robot. State_desc_ = Ĭount_state_time_ = 0 # seconds the robot is in a state Initial_position_.y = rospy.get_param('initial_y')ĭesired_position_.x = rospy.get_param('des_pos_x')ĭesired_position_.y = rospy.get_param('des_pos_y') Initial_position_.x = rospy.get_param('initial_x') Yaw_error_allowed_ = 5 * (math.pi / 180) # 5 degrees we define some global variables to store the goal and the current status of the robot and algorithm: srv_client_go_to_point_ = None We start from the necessary libraries: #! /usr/bin/env pythonįrom gazebo_msgs.srv import SetModelState Open the file in the editor and start coding. (Don’t forget to assign the necessary permissions to the file) chmod +x ~/catkin_ws/src/motion_plan/scripts/bug2.py We start creating a script file, it goes like that: ~/catkin_ws/src/motion_plan/scripts/bug2.py In this post, we implement Bug 2 algorithm in our existing robot! Let’s use some algorithms we have already done in order to have it all working!Īt the end of this post, we’ll have the robot working as shown on the image below: It’s not something necessary now, because we have already started using Kinetic. That’s because it was an adjustment from ROS Indigo to ROS Kinetic.
ROBOT FROM BUGDOM 2 SOFTWARE
To learn more about Pangea Software or its seven published titles Engimo, Cro-Mag Rally, Billy Frontier, Bugdom 2, Antimatter, Nanosaur 2: Hatchling, and Otto Matic: Alien Invasion please visit: We have skipped part number #11. With seven titles available and more than 1.7 million downloads worldwide, Pangea Software has truly captivated audiences across the globe and secured its position as the definitive leader in iPhone development. Ski behind giant metal sea monsters, ride a zip-line, pilot your very own flying saucer and more!ĭeveloped by Pangea Software, Otto Matic: Alien Invasion is available for the Apple iPhone and iPod touch for a limited time promotional price of $4.99, and can be downloaded via the App Store. Navigate through 10 levels on amazing 3D alien worldsĪttack with 7 different types of space-age weapons Once The Giant Brain has been defeated and peace has been restored to the galaxy, you will return to Earth with your human cargo where they will be freed. His rocket ship will take you to each of the alien planets where you must save as many humans as you can before the Brain Aliens abduct them. Otto Matic the robot is given the job of saving Earth from the attack of the Brain Aliens. These saucers are under the control of the evil Brain Aliens who are abducting helpless humans and taking them away to strange alien worlds to become slaves of The Giant Brain. The year is 1957 and a fleet of flying saucers from Planet X have come to Earth. It has subtle B-movie references around every corner, and even the audio has been modeled after the eerie 1950's style Theremin music.”
“I've always been a fan of sci-fi B-movies, so I really put my heart and soul into making this game. “Otto Matic uses a whimsical style that focuses on, and parodies the retro sci-fi genre,” says Brian Greenstone, president of Pangea Software. Originally developed for the Mac, Otto Matic is one of Pangea’s most recognized titles with over 2 million copies distributed worldwide.
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