Commit 836b7de5 authored by czb5793's avatar czb5793
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update readme.md file

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# Sobot Rimulator - A Robot Programming Tool
![Screenshot](documentation/sim_config.png)
This project is an extension of the [sobot rimulator](https://github.com/nmccrea/sobot-rimulator) developed by Nick McCrea
which allows the simulation of a mobile robot in a map of obstacles that must be avoided.
The [extension](https://collaborating.tuhh.de/cva9931/sobot-rimulator) developed by Michael Dobler includes
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- Python 3: Please follow the instructions at http://www.python.org/download/
- PyGTK 3: Please follow the instructions at https://pygobject.readthedocs.io/en/latest/getting_started.html
An additional dependency (see [scikit-sparse](https://scikit-sparse.readthedocs.io/en/latest/overview.html)) is required:
An additional dependency (see [scikit-sparse](https://scikit-sparse.readthedocs.io/en/latest/overview.html))
is required for the Graph-based SLAM algorithm:
sudo apt-get install libsuitesparse-dev
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## Graphical User Interface
The graphical user interface consists of the visualization of the current simulated world as well as a control panel of
buttons with which the user can interact. The robot is depicted in blue and aims to reach its goal depicted in green
buttons, with which the user can interact. The robot is depicted in blue and aims to reach its goal depicted in green
while avoiding collisions with the red objects. The buttons of the control panel are:
#### Control row
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- `frontend_pose_density`: Specifies the minimum distance between two neighboring pose-vertices while adding a new one during the front-end process.
- `num_fixed_vertexes`: Specifies the number of vertices that are fixed during optimization.
- `solver`: Specifies the sparse solver during the optimization. We can use either `spsolve` or `cholesky`.
`cholesky`: requires the **scikit-sparse** library
Note that `cholesky` requires the **scikit-sparse** library.
### 3. Occupancy Gird Mapping and Path Planning:
- `resolution`: Specifies the resolution of the grid map estimated by occupancy grid
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