Developer's Guide

Welcome to the Wiki! A more detailed explanation of how things work under the hood will be explained here, for future developers to have an easier transition. Scroll to the bottom for a list of potential to-do items and suggestions.

Updated: 24/6/2020

Function breakdown

There are 4 scripts that are control the bulk of the experiment logic/flow, namely:

1. postercombiner.py
2. gui.py
3. Experiment.py
4. controller_joystick.py

• postercombiner.py

Mainly interfaces with Rviz to enable poster (reward zone) modification and visualization.

Subscribing to:

Publishing to:

• gui.py

Uses QT framework to create a graphical interface, allowing users to set experiment parameters.

• Experiment.py

Main controller for actual experiment and trials. Recording of data is also controlled here.

• controller_joystick.py

Maps secondary joystick input and controls whether it is allowed to actually move the platform.

To do

1. Improve AMCL localization