Autopark Practice



GUI



European cars

We’ve tested the OMPLapp.

OMPLapp

We’ve installed the OMPLapp. OMPL is a library for non-olonomic movement planning. The installation steps are in the following link.

You may have problems installing OMPL with pip, because OMPL is for Python2 (pip2). The omplapp-1.2.1-Source/py-bindings/generate_bindings.py file have an error. The error was fixed in 1.

To launch OMPL.app, execute the ompl_app.py python script, which is found in the omplapp-1.2.1-Source/gui directory. When the GUI is loaded, a window will be presented as in the following image:

OMPLapp

We’ve added a first version of referee in autopark’s practice. Also, we have marked the robot’s way with points.




I’ve maked the gui of autopark’s practice. In this case, the car has a 3 lasers. Each laser have a different color in the GUI.

GUI

I’ve modified the laser’s plugin to have 3 lasers in the car. To test its operation we put the taxi in Gazebo, and then we run kobukiViewer. The kobukiViewer tool has been modified to test the taxlLaser’s plugin.

Lasers

I’ve made a new model named taxiLaser. For this I have taken as an example the model yellowTaxi. And I’ve teleoperated this taxi with kobukiViewer: