Open Source Garden/Generic Autonomous Robot / Python library
Project description
OSGAR
Open Source Garden/Generic Autonomous Robot (Python library)
OSGAR is lightweight multi-platform library targeting record and replay of
multiple nodes
(modules = sensors, robots, applications) logged into single file. It
has similar goals as ROS or ADTF, but is minimalistic. It should run on
different operating systems and also low end devices like Raspberry PI Zero.
References at http://robotika.cz/robots/osgar/
Video: https://youtu.be/KiDnPsnLmLU
Architecture
Robot is set of modules. Every module has input and output ports, described
together with the connections in the config file. All ports are logged with
timestamp (microsecond resolution). The module is typically an instance of a
driver
, whose init arguments are also in config file.
Notes regarding GitHub repository
The current development code is under osgar
directory.
If you are using OSGAR directly from sources please make sure that
you setup PYTHONPATH to the root of this project.
The example configurations are stored in config
folder. JSON files are
used.
Examples
Collect data from sensor(s)
There is a osgar/record.py to run data collection based on given configuration file. If you would like to collect GPS data available on serial port use modified version of test-windows-gps.json for Windows or test-gps-imu.json for Linux.
python -m osgar.record config/test-windows-gps.json
To replay existing log use:
python -m osgar.replay --module <module name> <log file name>
Project details
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