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Real Madrid Code - Tarball

realmadrid_robotsoccer.tgz

run

tar -xczf realMadrid_RobotSoccer.tgz

to untar our code

Business Lecture Documents

Mechanical Design

The following file contains our CAD design schematics for our robots: mechanical_design_cad_files.zip

Notes concerning our mechanical design: mechanical_documentation.docx

Vision

Motion

ROS

Run the following to allow ROS to compile on the MinnowBoard

cd /build/v2013.06/build/tmp-angstrom_v2013_06-eglibc/sysroots/minnow/usr/
ln -s /usr/lib lib
ln -s /usr/include include

Useful Tutorial on Compiling ROS using pkg-config

Example MakeFile

######################################################################
# Makefile for Robot Soccer (VISION)

# Delcare our compiler
CC=g++
# Declare the compile flags
CFLAGS=`pkg-config --cflags roscpp` `pkg-config --cflags opencv`
# Declare the linker flags
LDFLAGS=`pkg-config --libs roscpp` `pkg-config --libs opencv` -I /opt/softkinetic/DepthSenseSDK/include/ -L /opt/softkinetic/DepthSenseSDK/lib/ -lDepthSense

test: *.cpp
    $(CC) $(CFLAGS) visionNode.cpp VisionObject.cpp -o vision $(LDFLAGS)


vision:        visionNode.cpp VisionObject.cpp VisionObject.h
        g++ `pkg-config --cflags opencv` visionNode.cpp VisionObject.cpp -o vision `pkg-config --libs opencv` -I /opt/softkinetic/DepthSenseSDK/include/ -L /opt/softkinetic/DepthSenseSDK/lib/ -lDepthSense
        date
#./vision

clean:   
        rm vision    


Talker and Listener makefile

# Declare our preferred compiler
CC=g++
# Declare the compile flags
CFLAGS=`pkg-config --cflags roscpp`
# Declare the linker flags
LDFLAGS=`pkg-config --libs roscpp`
#CFLAGS=-I/opt/ros/hydro/include
#LDFLAGS=-L/opt/ros/hydro/lib -Wl,-rpath,/opt/ros/hydro/lib -lroscpp -lrosconsole

test: talker.cpp listener.cpp
    $(CC) $(CFLAGS) talker.cpp -o talker $(LDFLAGS)
    $(CC) $(CFLAGS) listener.cpp -o listener $(LDFLAGS)
   

hello_world_node: hello_world_node.cpp
    $(CC) $(CFLAGS) hello_world_node.cpp -o hello_world_node $(LDFLAGS)

# A rule which satisfies any dependencies with the ".o" extension by compiling
# (but not linking) the corresponding ".cpp" file with the same basename
#%.o: %.cpp
#    $(CC) -c -o $@ $< $(CFLAGS)
#
# A rule to build the hello_world_node program
#hello_world_node: hello_world_node.o
#    $(CC) -o hello_world_node hello_world_node.o $(LDFLAGS)
#
clean:
    rm hello_world_node talker listener

#vision:        hello_world_node.cpp
#    g++ hello_world_node.cpp -o hello_world_node -I/opt/ros/hydro/include -L/opt/ros/hydro/lib -Wl,-rpath,/opt/ros/hydro/lib -lroscpp -lrosconsole
#   
#clean:
#    rm vision