README.md

Omnibot.jl

Description

A julia package for setting up client-side connection with Omnibots. Currently this is implemented via TCP-sockets. Note that for information on how to configure the server-side of this connection, you find information at https://gitlab.control.lth.se/processes/omnibot/omnibotserver.py.

Installation

using Pkg
Pkg.add(url = "https://gitlab.control.lth.se/processes/omnibot/omnibot.jl")

Usage

Code

Use connectomnibot to create a TCP-connection. Whenever your script is done or you catch an error, close the connection with close. You can achieve the same result using do x syntax.

Example: Make the robot go in a circle and print all available coordinates

using Omnibot

host = ...
port = ...
bot = connectomnibot(host, port)

for i = 1:100
    setspeeds(bot,[100,100,100])
    println("x:"*getx(bot))
    println("y:"*gety(bot))
    println("z:"*getz(bot))
    println("theta:"*gettheta(bot))
    sleep(0.1)
end

close(bot)

Example: Read the maximum set-point for servo speed

using Omnibot

host = ...
port = ...
bot = connectomnibot(host, port)

println(getmaxspeed(bot))

close(bot)

Example: do x syntax

The following example does practically the same as the first example.

using Omnibot

host = ...
port = ...
connectomnibot(host, port) do bot

    for i = 1:100
        setspeeds(bot,[100,100,100])
        println("x:"*getx(bot))
        println("y:"*gety(bot))
        println("z:"*getz(bot))
        println("theta:"*gettheta(bot))
        sleep(0.1)
    end

end

Network

At the department of automatic control, you should be connected to the omnibots via the same router. Currently this has been done with the router with name robotlab. IP and port conventions: Robot with name omniX has IP 192.168.0.10X and port 900X e.g.. omnibot omni10 has IP 192.168.0.110and port 9010.

Support

felix.agner@control.lth.se

Contributing

Contributions and extensions are welcome. If you make any changes in the communication between server-and-client-side, make sure these changes are also extended to the server side package and the python client package.

License

MIT-license

Project status

Sporadically updated.