lennartalff/fav-pid-slides
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Thies Lennart Alff 2023-11-02 13:45:41 +01:00
parent b0eda18a56
commit 5821cd6b42
2 changed files with 50 additions and 5 deletions
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44
main.tex
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\usepackage{mum-theme-beamer/mum-theme}
\input{code-block-settings.tex}
\input{tikz-settings.tex}
\title{My Title}
\subtitle{My Subtitle}
\title{Formulas and Vehicles}
\subtitle{Implementation of a PID-Controller}
\date{03.11.2023}
\author[Short Author Name]{Long Author Name}
\author[\textbf{L. Alff}, N. Bauschmann, D. Duecker]{Lennart Alff, Nathalie Bauschmann, Daniel Duecker}
\institute[TUHH]{Hamburg University of Technology}
\begin{document}
\begin{frame}
\titlepage
\end{frame}
\begin{frame}
\frametitle{First Slide Title}
Content of First Slide
\frametitle{How to Start?}
\textbf{\Large Identify the challenges:}\vskip0.25cm
\begin{enumerate}
\item Communication/data flow -- the ROS perspective
\item Implementing the control law -- the control perspective
\end{enumerate}
\end{frame}
\begin{frame}
\frametitle{ROS Graph}
\centering
\begin{tikzpicture}[node distance=10mm and 20mm]
\node (baro) [rosnode] {Barometer};
\node (setpoint_publisher)[rosnode, right=of baro] {Setpoint\\Publisher};
\node (controller)[rosnode, right=of setpoint_publisher] {Controller};
\node (depth_calculator)[rosnode, below=of setpoint_publisher] {Depth\\Calculator};
\draw[arrow] (baro) %
edge node [sloped, anchor=center, above] {\footnotesize pressure} %
node [sloped, anchor=center, below] {\tiny FluidPressure} %
(setpoint_publisher);
\draw[arrow] (setpoint_publisher)
edge node [sloped, anchor=center, above] {\footnotesize depth}
node [sloped, anchor=center, below] {\tiny DepthStamped}
(controller);
\draw[arrow] (depth_calculator)
edge node [sloped, anchor=center, above, xshift=-5mm] {\footnotesize depth\_setpoint}
node [sloped, anchor=center, below, xshift=-5mm] {\tiny Float64Stamped}
(controller);
\end{tikzpicture}
\end{frame}
\begin{frame}[fragile]

11
tikz-settings.tex Normal file
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\usepackage{tikz}
\usetikzlibrary{shapes.geometric, arrows, calc, chains, backgrounds}
\tikzset{
rosbase/.style={minimum width=20mm, minimum height=7.5mm, text centered, draw=black, align=center},
startstop/.style={rectangle, rounded corners, rosbase, fill=red!30},
rostopic/.style={rectangle, rosbase},
rosnode/.style={ellipse,rosbase},
arrow/.style={thick,->,>=stealth},
}