pioneer playground

Overview

• 📙 The general idea
• 📄 Dependencies

📙 The general idea

This repo tests feedback linearization, transverse feedback linearization and dynamic transverse feedback linearization for the purpose of allowing the pioneer_p3dx robot to follow a given path (a circle). It also tests those controllers when sampling is considered, and compare the results to emulation.

📄 Dependencies

1. CMAKE: Install the CMAKE build system 3.5 or higher Cmake

2. Eigne: For linear algebra operations Eigen

3. inih: To parse the ini configuration file(s) inih

It is necessary to add the following corresponding Env variables in the .bashrc or .bash_profile the following lines:

export REMOTE_API=/path/where/CoppliaSim/programming
export Eigen=/path/where/you/unpacked
export inih=/path/where/you/installed/

See how to edit system Env variables in Windows here

🔨 Build the suite

Linux

git clone https://github.com/mebbaid/pioneer_playground.git
cd pioneer_playground
mkdir build && cd build
cmake ../
make
[sudo] make install

Notice: sudo is not necessary if you specify the CMAKE_INSTALL_PREFIX.

Windows

Follow the same instructions from the Powershell. One can also opt to use the CMake gui application.

💻 How to run the simulation

1. Open myscene.ttt with vrep/CoppliaSim

2. Run

cd $/path/where/you/installed
pioneer_SDTFL config.ini

3. Follow instructions and select the controller you want to simulate.