DROS Screenshots

Maintained by: David Austin and Luke Cole

Most parts of DROS are command-line programs with no graphical output because fancy graphics slow down the execution. Instead, the graphical interface is a separate program which communicates with the other parts of DROS. This program is called DROSInterface (DROS/src/Graphics/DROSInterface/).

This screenshot just shows the basic window as you might expect to see it. The black line are of course the world. The red dots which appear as lines are the places that the laser scan has successfully matched to the world map. The robot is shown in green. The orange lines are the lines which represent the laser scan data. Note that everything described here can be turned on and off. It is possible to turn everything off until there is just a white screen and the menus.

This screenshot shows the DROSInterface working while the robot is moving. This gives us a chance to see what the planner outputs are like. The bright green line shows the general path that the robot will try to take. This data corresponds to the intelligence of the PathPlanner. On the other hand the blue curves are the short term plan of the robot. This is the plan of the DWAPlanner. The DWAPlanner data can be shown in 2 ways. The first is that it is shown as seen here. However if the robot is not moving then this data would not be visible. Thus if the robot is not going fast enough it will just show an curved arrow which shows the way that the robot is turning.

This screenshot shows the DROSInterface after executing a move. We can still see the green planner data but the robot had stopped when this was taken. In this screenshot the history was turned on. Note that history doesn't need to be on while the robot is moving. It is recorded automatically and only removed if the clear history option is used.

This screenshot shows the particle filter output from the trivial Monte-Carlo Localiser simulator (DROS/src/Localiser/MCL/). NOTE: This Localiser is a work in progress and it is recommend you use the main particle filter (DROS/src/Localiser/AMCL/) works with DROSInterface, real robots and various sensors such as SICK Laser range finder, sonar, WIFI, camera and a camera view selection technique.