Welcome to minireach’s documentation!

MiniReach Manual

• Introduction
  • Start a demo
• Installing Truck Simulator
• Robot Hardware Overview
  • Mechanism Terminology
  • Mechanical Overview
  • Electrical Overview
  • Motion Control
  • Sensor Overview
• Truck Computer Overview and Configuration
  • Networking
  • Connecting the Robots Wireless Network
  • Clock Synchronization
  • Upstart Services
  • Log Files
• Care And Feeding
  • Charging

Demos

• Demo: Control the truck using a game-pad
  • Start the truck
  • Troubleshooting
• Demo: Move pallets with AR-code
  • Start the truck
  • Login to the truck
  • Start the demo
• Demo: Handle pallets without AR-codes
  • Start the truck
  • Troubleshooting

Tutorials

• Tutorial: Gazebo Simulation
  • Starting the Simulator
  • Simulation vs. Real Robots
• Tutorial: Demo
  • Using rocon_remocon
  • Moving an empty pallet (no AR-marker)
  • Running demo on real trucks
• Tutorial: Multiple trucks
  • Using rocon_gateway
  • Application: Random Walk
  • Troubleshooting
  • Multi-truck Simulator
• Tutorial: Robot Teleop
  • Using the Robot Joystick
  • Moving the Base with your Keyboard
• Perception Resources
  • 3D Camera Topics

Components

• Component: Pallet tracker
  • Overview
  • Files neccesary for the tracker
  • Tracker initialization
  • Tracking using VISP
  • Calculate feedback for each tracker
  • Ranking using template matching
  • Ranking using AdaBoost instead
  • Change model or create your own model
  • Known problems and suggested solutions
  • Future Work
  • Suggestion for extensions
• Component: State space model
  • Overview
  • Files neccesary to generate the model
  • Black box model outline
  • Recording data with rosbag
  • Suggestions for extensions

Other

• Drive Wheel Offset
• Troubleshooting
  • Troubleshooting Simulated Truck
  • Troubleshooting Real Truck
• Known Issues
• API Overview
  • Fork and Reach
  • Base Interface
  • 3D Camera Tilt Interface
  • 3D Camera Interface
  • Laser Interface

Indices and tables

• Index
• Module Index
• Search Page