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.
-
CMAKE: Install the CMAKE build system 3.5 or higher Cmake
-
Eigne: For linear algebra operations Eigen
-
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
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
.
Follow the same instructions from the Powershell. One can also opt to use the CMake
gui application.
-
Open
myscene.ttt
withvrep/CoppliaSim
-
Run
cd $/path/where/you/installed
pioneer_SDTFL config.ini
- Follow instructions and select the controller you want to simulate.