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Using AVM to go to a location, perform a task, then go to another
AM_ZEN from United States  [6 posts]
6 years
I am in the process of incorporating the AVM module in my application and have reached one of those "I really don't know how to do it" points.

I am using the AVM module to hopefully accomplish the following:

1. Recognize an object and drive the robot to its location using AVM (10-15 feet away)

2. Wait a varying/unknown amount of time for the robot to perform a task that must be automatically invoked upon completion of task #1.  
(**RR is posted with the status of this non-vision task via the C++ RR API)

3. Make the robot automatically return back to it's original location using AVM only after task #2 has been completed.  

I am able to complete the first task which is wonderful, however I am having difficulty invoking task #2 once task #1 has been completed.  Is there some variable I can read from RR to indicate when task #1 is completed?  Similarly, when I finish task #2 how would you recommend I invoke task#3?  All of these task HAVE to be automatically invoked in this above numerical sequence to meet an autonomous requirement.  

Any advice on an approach to this would be great.  Hopefully I have not overlooked documentation that clarifies this subject.  
Thank you for your help,
AM_ZEN
EDV  [328 posts] 6 years
>> Recognize an object and drive the robot to its location using AVM (10-15 feet away)

Well, I think that you can make such navigation by yourself with helping of "Object recognition" mode and couple of variables such as:

NV_OBJECTS_TOTAL  - total number of recognized objects
NV_ARR_OBJ_RECT_X - left-top corner X coordinate of recognized object
NV_ARR_OBJ_RECT_Y - left-top corner Y coordinate of recognized object
NV_ARR_OBJ_RECT_W - width of recognized object
NV_ARR_OBJ_RECT_H - height of recognized object

See here for more details: http://forums.trossenrobotics.com/showthread.php?4764-Using-of-AVM-plugin-in-RoboRealm&p=48865#post48865

Also you can use ready-made navigation template "Follow me" in "Navigate mode":
http://forums.trossenrobotics.com/showthread.php?4764-Using-of-AVM-plugin-in-RoboRealm&p=48502#post48502

You should use variable NV_IN_SET_MODE for mode switching if it needed.
NV_IN_SET_MODE - the current setting of module's mode:
                    0 - Object recognition
                    1 - Navigate mode
                    2 - Nova gate mode
                    3 - Marker mode
                    4 - Navigate by map

>> Make the robot automatically return back to it's original location using AVM

I guess that “Navigation by map” is suitable for this purpose:
http://www.youtube.com/watch?v=qVz9iBazqug
http://www.youtube.com/watch?v=wj-FKhdaU5A

You can find out more about tuning of "Navigation by map" mode in this topic:
http://www.roborealm.com/forum/index.php?thread_id=4246#

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