... | ... | @@ -8,9 +8,15 @@ TST |
|
|
|
|
|
A Task-Specification-Tree (TST) is a hierachical tree structure which represents a complex mission. For the purpose of this lab, six types of nodes are used:
|
|
|
|
|
|
You can find the specification of the TST nodes in ```air_tst/configs```, the directory on the lab computers is ```/courses/TDDE05/software/ros2_ws/src/air_tst/configs```, here is some documentation:
|
|
|
You can find the specification of the TST nodes in ```air_tst/configs```, the directory on the lab computers is ```/courses/TDDE05/software/ros2_ws/src/air_tst/configs```, you can quickly access the directory with:
|
|
|
|
|
|
|
|
|
```bash
|
|
|
tdde05-cd air_tst/configs
|
|
|
```
|
|
|
|
|
|
Here is some documentation:
|
|
|
|
|
|
* ```seq``` allows to execute a sequence of nodes
|
|
|
* ```conc``` allows to execute a set of nodes concurrently, it has a parameter ```stop-on-first``` which controls whether the node should wait for all the children to finish or stop when the first node is done
|
|
|
* ```drive-to``` allows to send a ground robot to a specific position, it has the following parameters:
|
... | ... | @@ -27,10 +33,6 @@ You can find the specification of the TST nodes in ```air_tst/configs```, the di |
|
|
r = a + b\theta
|
|
|
```
|
|
|
|
|
|
```bash
|
|
|
tdde05-cd air_tst/configs
|
|
|
```
|
|
|
|
|
|
TST Editor
|
|
|
----------
|
|
|
|
... | ... | |