Changes between Version 38 and Version 39 of Old/Robot/robothandbook

Timestamp:

Aug 31, 2007, 5:51:38 PM (17 years ago)

Author:

aniket

Comment:

—

Old/Robot/robothandbook

@@ -12 +12 @@
  * [wiki:robothandbook#C C++]
   * [wiki:robothandbook#TrilaterationClassesacleanercversionofV3 Trilateration Classes]
-  * Behaviors
+  * [wiki:Behaviors Behaviors]
  
  * [wiki:robothandbook#UsingtheGrid Using the Grid]
@@ -40 +40 @@
 
 The program will cause the robot to wander around the room and create a map using its camera. Much more information on navtool is in the Getting Started Guide.
+
+The script that starts the server (run_slam_explore) is essentially a shell script which runs the command:
+{{{
+behave /opt/evolution_robotics-3.1.3004-20060627030002/behavior_networks/slam_explore.xml
+}}}
+
+Theoretically, modifying the behavior network slam_explore.xml (using composer.sh) will modify the behavior of the navtool GUI application.
+
 
 == Calibration ==
@@ -195 +203 @@
 }}}
 
-
-
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-
-
-
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+= Behaviors =
+
+Behaviors are xml files which control the robot. There are two types of xml files to consider: behavior networks and behavior schemes.
+
+Behavior networks are completed behavior definitions. They are edited using the behavior composer, which is a java program that can be started using this command
+{{{
+$ composer.sh
+}}}
+
+The behavior composer is a drag-and-drop interface which allows for easy manipulation of behaviors networks. 
+
+Behavior schemes are the building blocks of a behavior network. Behavior schemes must be located in one of the following directories:
+{{{
+/opt/evolution_robotics/config/behaviors
+/home/vamsi/samples/config/behaviors
+}}}
+(Note: Both of these are subdirectories of evolution's config directories. You can see which config directories are defined using $ echo $EVOLUTION_CONFIG)