{"id":166,"date":"2021-11-15T18:50:57","date_gmt":"2021-11-15T18:50:57","guid":{"rendered":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamc\/?p=166"},"modified":"2022-05-05T23:13:55","modified_gmt":"2022-05-05T23:13:55","slug":"software","status":"publish","type":"post","link":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamc\/software\/","title":{"rendered":"Software"},"content":{"rendered":"\n<h2 class=\"wp-block-heading\">Perception &amp; Sensing<\/h2>\n\n\n\n<p>The Software and Sensing software was developed as the <a href=\"https:\/\/github.com\/hipsdontlie\/arthur_perception\">Arthur Perception Package<\/a> and is stored on github. A high-level software architecture is <a href=\"http:\/\/mrsdprojects.ri.cmu.edu\/2022teamc\/wp-content\/uploads\/sites\/56\/2022\/05\/Software-Architecture.pdf\">here<\/a>. Some other architectures are shown below.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"326\" src=\"http:\/\/mrsdprojects.ri.cmu.edu\/2022teamc\/wp-content\/uploads\/sites\/56\/2021\/11\/frameHandler-1024x326.png\" alt=\"\" class=\"wp-image-700\" srcset=\"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamc\/wp-content\/uploads\/sites\/56\/2021\/11\/frameHandler-1024x326.png 1024w, https:\/\/mrsdprojects.ri.cmu.edu\/2022teamc\/wp-content\/uploads\/sites\/56\/2021\/11\/frameHandler-300x95.png 300w, https:\/\/mrsdprojects.ri.cmu.edu\/2022teamc\/wp-content\/uploads\/sites\/56\/2021\/11\/frameHandler-768x244.png 768w, https:\/\/mrsdprojects.ri.cmu.edu\/2022teamc\/wp-content\/uploads\/sites\/56\/2021\/11\/frameHandler.png 1260w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><figcaption>Frame Handler<\/figcaption><\/figure><\/div>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"310\" src=\"http:\/\/mrsdprojects.ri.cmu.edu\/2022teamc\/wp-content\/uploads\/sites\/56\/2021\/11\/pelvisTracker-1024x310.png\" alt=\"\" class=\"wp-image-699\" srcset=\"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamc\/wp-content\/uploads\/sites\/56\/2021\/11\/pelvisTracker-1024x310.png 1024w, https:\/\/mrsdprojects.ri.cmu.edu\/2022teamc\/wp-content\/uploads\/sites\/56\/2021\/11\/pelvisTracker-300x91.png 300w, https:\/\/mrsdprojects.ri.cmu.edu\/2022teamc\/wp-content\/uploads\/sites\/56\/2021\/11\/pelvisTracker-768x233.png 768w, https:\/\/mrsdprojects.ri.cmu.edu\/2022teamc\/wp-content\/uploads\/sites\/56\/2021\/11\/pelvisTracker.png 1324w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><figcaption>Pelvis Tracker<\/figcaption><\/figure><\/div>\n\n\n\n<h2 class=\"wp-block-heading\">Planning<\/h2>\n\n\n\n<p>The Planning Subsystem was developed in the <a href=\"https:\/\/github.com\/hipsdontlie\/ros_kortex\/tree\/noetic-devel\/arthur_planning\">Arthur Planning Package<\/a> and is stored within the ROS Kortex Package on github.<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">Controls<\/h2>\n\n\n\n<p>The Controls Subsystem was developed in the <a href=\"https:\/\/github.com\/hipsdontlie\/ros_kortex\/tree\/noetic-devel\/kortex_control\">Kortex Control Package<\/a> and is stored within the ROS Kortex Package on github. A high-level software architecture of the wrench controller is shown here.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"387\" src=\"http:\/\/mrsdprojects.ri.cmu.edu\/2022teamc\/wp-content\/uploads\/sites\/56\/2021\/11\/System_Architectures-Wrench-Controller-1024x387.png\" alt=\"\" class=\"wp-image-690\" srcset=\"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamc\/wp-content\/uploads\/sites\/56\/2021\/11\/System_Architectures-Wrench-Controller-1024x387.png 1024w, https:\/\/mrsdprojects.ri.cmu.edu\/2022teamc\/wp-content\/uploads\/sites\/56\/2021\/11\/System_Architectures-Wrench-Controller-300x113.png 300w, https:\/\/mrsdprojects.ri.cmu.edu\/2022teamc\/wp-content\/uploads\/sites\/56\/2021\/11\/System_Architectures-Wrench-Controller-768x290.png 768w, https:\/\/mrsdprojects.ri.cmu.edu\/2022teamc\/wp-content\/uploads\/sites\/56\/2021\/11\/System_Architectures-Wrench-Controller-1536x580.png 1536w, https:\/\/mrsdprojects.ri.cmu.edu\/2022teamc\/wp-content\/uploads\/sites\/56\/2021\/11\/System_Architectures-Wrench-Controller-2048x773.png 2048w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure><\/div>\n","protected":false},"excerpt":{"rendered":"<p>Perception &amp; Sensing The Software and Sensing software was developed as the Arthur Perception Package and is stored on github. A high-level software architecture is here. Some other architectures are shown below. Planning The Planning Subsystem was developed in the Arthur Planning Package and is stored within the ROS Kortex Package on github. Controls The<br \/><a class=\"moretag\" href=\"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamc\/software\/\">+ Read More<\/a><\/p>\n","protected":false},"author":260,"featured_media":0,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[21],"tags":[],"class_list":["post-166","post","type-post","status-publish","format-standard","hentry","category-documents"],"_links":{"self":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamc\/wp-json\/wp\/v2\/posts\/166","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamc\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamc\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamc\/wp-json\/wp\/v2\/users\/260"}],"replies":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamc\/wp-json\/wp\/v2\/comments?post=166"}],"version-history":[{"count":3,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamc\/wp-json\/wp\/v2\/posts\/166\/revisions"}],"predecessor-version":[{"id":727,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamc\/wp-json\/wp\/v2\/posts\/166\/revisions\/727"}],"wp:attachment":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamc\/wp-json\/wp\/v2\/media?parent=166"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamc\/wp-json\/wp\/v2\/categories?post=166"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamc\/wp-json\/wp\/v2\/tags?post=166"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}