Source files and questions for a practical course on the subsumption architecture.
Requires the fastsim simulation. You can use it to control a turtlebot with the fastsim_to_turtlebot ROS node available here: https://github.com/doncieux/ros_misc.git
- libfastsim (https://github.com/jbmouret/libfastsim)
- ros_fastsim (https://github.com/jbmouret/ros_fastsim)
subsomption/ : directory containing the required ROS nodes.
lib fastsim and ros_fastsim need to be installed.
Create a link in your catkin dir and launch catkin_make (update with your dir):
cd ~/catkin_ws/src
ln -s ~/git/TME_subsomption/subsomption
cd ~/catkin_ws
catkin_make
Before using the subsumption architecture, you need to launch the ros_fastsim node: cd ~/catkin_ws/src/subsomption/envs roslaunch fastsim.launch
To use it, launch:
rosrun subsomption subsomption_architecture.py 10
The number tells how many levels you consider (here 10).
example.py contains an example of module to be used in this architecture.
The modules will be launched like that:
rosrun subsomption example.py