generated from lennartalff/mum-beamer-template
65 lines
1.9 KiB
TeX
65 lines
1.9 KiB
TeX
\documentclass[aspectratio=169]{beamer}
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\usepackage{mum-theme-beamer/mum-theme}
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\input{code-block-settings.tex}
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\input{tikz-settings.tex}
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\title{Formulas and Vehicles}
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\subtitle{Implementation of a PID-Controller}
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\date{03.11.2023}
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\author[\textbf{L. Alff}, N. Bauschmann, D. Duecker]{Lennart Alff, Nathalie Bauschmann, Daniel Duecker}
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\institute[TUHH]{Hamburg University of Technology}
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\begin{document}
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\begin{frame}
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\titlepage
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\end{frame}
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\begin{frame}
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\frametitle{How to Start?}
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\textbf{\Large Identify the challenges:}\vskip0.25cm
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\begin{enumerate}
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\item Communication/data flow -- the ROS perspective
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\item Implementing the control law -- the control perspective
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\end{enumerate}
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\end{frame}
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\begin{frame}
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\frametitle{ROS Graph}
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\centering
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\begin{tikzpicture}[node distance=10mm and 20mm]
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\node (baro) [rosnode] {Barometer};
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\node (setpoint_publisher)[rosnode, right=of baro] {Setpoint\\Publisher};
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\node (controller)[rosnode, right=of setpoint_publisher] {Controller};
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\node (depth_calculator)[rosnode, below=of setpoint_publisher] {Depth\\Calculator};
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\draw[arrow] (baro) %
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edge node [sloped, anchor=center, above] {\footnotesize pressure} %
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node [sloped, anchor=center, below] {\tiny FluidPressure} %
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(setpoint_publisher);
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\draw[arrow] (setpoint_publisher)
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edge node [sloped, anchor=center, above] {\footnotesize depth}
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node [sloped, anchor=center, below] {\tiny DepthStamped}
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(controller);
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\draw[arrow] (depth_calculator)
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edge node [sloped, anchor=center, above, xshift=-5mm] {\footnotesize depth\_setpoint}
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node [sloped, anchor=center, below, xshift=-5mm] {\tiny Float64Stamped}
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(controller);
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\end{tikzpicture}
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\end{frame}
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\begin{frame}[fragile]
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\frametitle{Code-Block}
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% \begin{noindent}
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\begin{pythoncode}{}
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import time
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print('hello')
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\end{pythoncode}
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% \end{noindent}
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\end{frame}
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\end{document}
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