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tutorials:advanced:bullet_world_robot [2015/09/17 17:36]
gkazhoya [Directory / file setup]
tutorials:advanced:bullet_world_robot [2015/09/17 17:54] (current)
gkazhoya [Boxy Prolog description]
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 Now, let's describe our robot in Prolog, such that we could do some reasoning with it. Now, let's describe our robot in Prolog, such that we could do some reasoning with it.
  
-We fill in the file ''​cram_boxy/cram_boxy_knowledge/src/boxy-knowledge.lisp''​ with some simple descriptions of Boxy, which are the ones relevant for navigation and vision. ​We will leave manipulation ​out for now as it is too complex for the scope of this tutorial.+We fill in the file ''​cram_quadrotor/cram_quadrotor_knowledge/src/quadrotor-knowledge.lisp''​ with some simple descriptions of our robot, which are the ones relevant for navigation and vision. ​For robots with arms one could also implement ​manipulation-specific functionality but this is too complex for the scope of this tutorial.
  
 As can be seen from the TF tree, our robot has 3 camera frames, 1 depth and 1 RGB frame from a Kinect camera, and an RGB frame from a Kinect2 camera. As can be seen from the TF tree, our robot has 3 camera frames, 1 depth and 1 RGB frame from a Kinect camera, and an RGB frame from a Kinect2 camera.