Autoparking
Goal
The objective of this exercise is to implement the logic of a navigation algorithm for an automated vehicle. The vehicle must find a parking space and park properly.
Note: If you haven’t, take a look at the user guide to understand how the installation is done, how to launch a RoboticsBackend and how to access the exercises.



Robot API
import HAL
- to import the HAL (Hardware Abstraction Layer) library class. This class contains the functions that send and receive information to and from the Hardware (Gazebo).import GUI
- to import the GUI (Graphical User Interface) library class. This class contains the functions used to view the debugging information, like image widgets.HAL.getPose3d()
- to get all the position information.HAL.getPose3d().x
- to get the position of the robot (x coordinate).HAL.getPose3d().y
- to get the position of the robot (y coordinate).HAL.getPose3d().yaw
- to get the orientation of the robot with regarding the mapHAL.getFrontLaserData()
- to obtain the front laser sensor data. It is composed of 180 pairs of values: (0-180º distance in millimeters)HAL.getRightLaserData()
- to obtain the right laser sensor data. It is composed of 180 pairs of values: (0-180º distance in millimeters)HAL.getBackLaserData()
- to obtain the back laser sensor data. It is composed of 180 pairs of values: (0-180º distance in millimeters)HAL.setV()
- to set the linear speed.HAL.setW()
- to set the angular velocity.
Laser attributes
HAL.getFrontLaserData()
, HAL.getRightLaserData()
and HAL.getBackLaserData()
returns an instance of a Class with the following attributes:
minAngle
- Start angle of the scan [rad]maxAngle
- End angle of the scan [rad]minRange
- minimum range value [m]maxRange
- maximum range value [m]values
- A list of 180 measurements [m] (Note: values < minRange or > maxRange should be discarded)
Illustrations

Videos
Demonstrative video of the solution
Contributors
- Contributors: Vanessa Fernández Martínez, Javier Izquierdo.
- Maintained by Vanessa Fernández Martínez, Javier Izquierdo.