Entrapment

Author:
Paolo Stegagno, Maurizio di Rocco, Antonio Franchi
Date:
2009-1-26

Usage

Command 'l' starts the laser scan.
Command 'm' starts the mutual localization process.
The output of the mutual localization is drawn in a draWin if selected. The best estimate is drawn for each robot. Additionaly, the last feature extraction result of the robot that executes the mutual localization is printed in a fifo terminal with the numerical results of the mutual localization filter.

Entrapment on Player

Run in a shell
$ cd MIP_HOME/bin
$ ./run.sh
Select the entrapment/entMutLocPlayer.txt file, then choose the player world ( -> squares -> entrapment for entrapment specific worlds), the robots you want to use and eventually the draWin. The draWin selected robots open also a fifo terminal with the numeric output of the mutual localization process.

To start the entrapment type 'l' and 'm' in each opened robot shell to activate the laser of the correspondent robot and the mutual localization process.


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