Autoparking

Objective

The objective of this practice 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 made, how to launch a RoboticsBackend and how to perform the exercises.

Autoparking Autoparking Autoparking
Gallery

Robot API

  • import HAL - to import the HAL(Hardware Abstraction Layer) library class. This class contains the functions that sends and receives 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 map
  • HAL.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

Autoparking
Autoparking Web Template

Videos

Contributors