======== UviSpace ========

Author:	Department of Electronic Technology, University of Vigo
Version:	1.0.0

The project contains two main packages:

• uvirobot
• uvisensor

Project documentation

The oficial documentation about the UviSpace project is hosted at this website.

uvirobot

The uvirobot package contains all the modules required to control an UGV i.e.: Connect to it via an XBee module, receive position and goal parameters, calculate the path to the goal, establish speed set points, transform the speed value to a valid input to the Arduino board on the UGV and send the values to it.

messenger

The messenger module establish a connection with the board. It has been tested with XBee modules, connected to the PC through a serial port. Once the connection is established, the program will wait for speed set points and will send them to the UGV.

• To run it, open a new Terminal, set up the environment, and execute the script using the Python interpreter. The execution will listen for speed set points until it is killed:

$ cd /<path_to_UviSpace>/uvispace/
$ source set_environment.sh
$ python -m uvirobot/messenger.py -r <robot_id>

• Alternatively, execute the messenger.py module on an IPython session:

In [1]: cd /<path_to_UviSpace>/uvispace/
       /<path_to_UviSpace>/uvispace
In [2]: run -m uvirobot.messenger -- -r <robot_id>

navigator

The navigator module listens for new positions of the robot, as well as for destination goals typed by the user.

• To run it, open a new Terminal, set up the environment, and execute the script using the Python interpreter. The execution will keep running until it is killed.

$ cd /<path_to_UviSpace>/uvispace/
$ source set_environment.sh
$ python -m uvirobot/navigator.py -r <robot_id>

• Alternatively, execute the navigator.py module on an IPython session:

In [1]: cd /<path_to_UviSpace>/uvispace/
       /<path_to_UviSpace>/uvispace
In [2]: run -m uvirobot.navigator -- -r <robot_id>

uvisensor

The uvisensor package connects via ethernet to external cameras, configures them and acquires images of the iSpace scene so it can calculate the position of the UGVs.

multiplecamera

• To run it, open a new Terminal, set up the environment, and execute the script using the Python interpreter.

$ cd /<path_to_UviSpace>/uvispace/
$ source set_environment.sh
$ python -m uvirobot/multiplecamera.py

• Alternatively, execute the multiplecamera.py module on an IPython session:

In [1]: cd /<path_to_UviSpace>/uvispace/
       /<path_to_UviSpace>/uvispace
In [2]: run -m uvisensor.multiplecamera