ISRWiki - User contributions [en]

SocrobOmniSoftware

2013-09-26T10:25:26Z

Jreis: Hardware desc

[[Image:Icon socrob.png|thumb|SocRob OMNI platform]]

== About ==

This page presents instructions and ROS drivers to use the SocRob OMNI platform. This platform does not contain any computer on-board, so everything must be connected to a laptop placed in the robot.

=== Hardware ===

The robot contains:
* Three omnidirectional wheels, motors (with temperature sensors) and a motor controller that connects to a PC using USB. There is a button on top that enables/disables the motors and can be used in emergencies.
* An omnidirectional camera that connects to a PC using Ethernet.
* A compass.
* An Arduino that connects to a PC using USB. This Arduino is used to interface the compass and temperature sensors.

Each robot uses two 12V batteries, and one more to power the camera alone. The electronics of the robot have to be turned on using a switch on the chassis.

=== Software ===

The software contains drivers for:
* motors -- control motors and receive odometry
* compass -- compass angle and motor temperatures, since both are connected to the same Arduino


There is a control hierarchy implemented in control_selector.

There are a few watchdogs implemented to stop the robot in extreme situations:
* camera_watchdog -- stops the robot if no image is received from the camera
* temperature_watchdog -- stops the robot is motors temperature becomes too high
* show_stopper -- fuses the information from watchdogs to determine if the robot must be stopped

== Software ==

=== SocRob ROS Packages ===

The source code can be found here: [[Media:SocRob_OMNI_ROS-1.0.tar.xz|SocRob_OMNI_ROS-1.0.tar.xz]]. This must be decompressed to a directory in the ROS_PACKAGE_PATH.

=== System Dependencies ===

Install system dependencies (Boost, libFTDI and curl) with:

<code>
sudo apt-get install libboost-all-dev libftdipp-dev libftdipp1 curl
</code>

=== FTDI Access Permissions ===

You might be able to use USB devices without this, but in some cases you must explicitly give permissions for your user to access FTDI devices over USB.

Create a Udev file as root with:

<code>
sudo nano /etc/udev/rules.d/10-socrob.rules
</code>

and fill it with

<code>
SUBSYSTEMS=="usb", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6001", OWNER="socrob"

SUBSYSTEMS=="usb", ATTRS{idVendor}=="2341", ATTRS{idProduct}=="0042", OWNER="socrob"
</code>

replacing socrob with your username.

== Usage ==

Please note:
* This software was extensively tested with ROS Fuerte.
* The environment variable MY_ID must be set to the robot number. For example: <code>export MY_ID=2</code>
* Ethernet must be configured with the static IP address 172.16.46.80. Camera IP is 172.16.46.8#(robot's number)
* When using a launch file, all of the ROS parameters must be initialized. Check ''driver.launch'' for an example.
* When using ''roscore'' without a launch file, the script to set the parameters must be run from inside socrob_ros with: <code>sh config/set_params_real.sh</code>

=== Packages ===
* socrob_ros -- All drivers that still depend on the old MeRMaID libraries and some examples.
* socrob_aux -- Independent ROS packages:
** mermaid_defines -- Legacy MeRMaID header with some typedefs and defines.
** mermaid_xml -- Legacy MeRMaID library to process xml files (new ROS projects should use yaml and rosparam).
** mjpeg_camera -- Network camera driver.
** socrob_base -- Base headers for SocRob code and Math template library.
** socrob_display -- Utility to display debug images.

== Motors Node ==

=== Subscribed Topics ===

* control_input_final -- Final command, fused by control_selector
* watchdogs/all_ok -- Final robot status, fused by show_stopper

=== Published Topics ===

* odometry -- Odometry
* world_info/isRunning -- Button state

=== Defined in ''src/Libraries/WorldDefinition.hpp'' ===

* MaximumSpeed -- Maximum speed of the robot

== Compass Node ==

=== Published Topics ===

* compass_angle -- Compass angle in radians
* temperature -- Motors temperature for each motor in degrees celsius



== MJPEG Camera Node ==

=== Published Topics ===

* image_raw -- Image stream from the camera

=== Parameters ===

* filename -- Camera URL or video filename to read (for the OMNI platform cameras use ''http://172.16.46.8#/video.mjpg'')

== SocRob Display ==

Used for debug display by the compass, line_points and driver_view. To use, while the nodes are running type:

<code>
rosrun socrob_display srdisplay
</code>

== Examples ==

The driver.launch file will launch the OmniManual teleoperation utility along with a transformed view of the camera image, simulation a forward view with rear view mirror. Pressing ''h'' will show the terminal's commands.

The line_points node is an example of how to process and extract information from images.

SocrobOmniSoftware

2013-09-26T10:17:39Z

Jreis:

[[Image:Icon socrob.png|thumb|SocRob OMNI platform]]

== About ==

This page presents instructions and ROS drivers to use the SocRob OMNI platform. This platform does not contain any computer on-board, so everything must be connected to a laptop placed in the robot.

The software contains drivers for:
* motors -- control motors and receive odometry
* compass -- compass angle and motor temperatures, since both are connected to the same Arduino


There is a control hierarchy implemented in control_selector.

There are a few watchdogs implemented to stop the robot in extreme situations:
* camera_watchdog -- stops the robot if no image is received from the camera
* temperature_watchdog -- stops the robot is motors temperature becomes too high
* show_stopper -- fuses the information from watchdogs to determine if the robot must be stopped

== Software ==

=== SocRob ROS Packages ===

The source code can be found here: [[Media:SocRob_OMNI_ROS-1.0.tar.xz|SocRob_OMNI_ROS-1.0.tar.xz]]. This must be decompressed to a directory in the ROS_PACKAGE_PATH.

=== System Dependencies ===

Install system dependencies (Boost, libFTDI and curl) with:

<code>
sudo apt-get install libboost-all-dev libftdipp-dev libftdipp1 curl
</code>

=== FTDI Access Permissions ===

You might be able to use USB devices without this, but in some cases you must explicitly give permissions for your user to access FTDI devices over USB.

Create a Udev file as root with:

<code>
sudo nano /etc/udev/rules.d/10-socrob.rules
</code>

and fill it with

<code>
SUBSYSTEMS=="usb", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6001", OWNER="socrob"

SUBSYSTEMS=="usb", ATTRS{idVendor}=="2341", ATTRS{idProduct}=="0042", OWNER="socrob"
</code>

replacing socrob with your username.

== Usage ==

Please note:
* This software was extensively tested with ROS Fuerte.
* The environment variable MY_ID must be set to the robot number. For example: <code>export MY_ID=2</code>
* Ethernet must be configured with the static IP address 172.16.46.80. Camera IP is 172.16.46.8#(robot's number)
* When using a launch file, all of the ROS parameters must be initialized. Check ''driver.launch'' for an example.
* When using ''roscore'' without a launch file, the script to set the parameters must be run from inside socrob_ros with: <code>sh config/set_params_real.sh</code>

=== Packages ===
* socrob_ros -- All drivers that still depend on the old MeRMaID libraries and some examples.
* socrob_aux -- Independent ROS packages:
** mermaid_defines -- Legacy MeRMaID header with some typedefs and defines.
** mermaid_xml -- Legacy MeRMaID library to process xml files (new ROS projects should use yaml and rosparam).
** mjpeg_camera -- Network camera driver.
** socrob_base -- Base headers for SocRob code and Math template library.
** socrob_display -- Utility to display debug images.

== Motors Node ==

=== Subscribed Topics ===

* control_input_final -- Final command, fused by control_selector
* watchdogs/all_ok -- Final robot status, fused by show_stopper

=== Published Topics ===

* odometry -- Odometry
* world_info/isRunning -- Button state

=== Defined in ''src/Libraries/WorldDefinition.hpp'' ===

* MaximumSpeed -- Maximum speed of the robot

== Compass Node ==

=== Published Topics ===

* compass_angle -- Compass angle in radians
* temperature -- Motors temperature for each motor in degrees celsius



== MJPEG Camera Node ==

=== Published Topics ===

* image_raw -- Image stream from the camera

=== Parameters ===

* filename -- Camera URL or video filename to read (for the OMNI platform cameras use ''http://172.16.46.8#/video.mjpg'')

== SocRob Display ==

Used for debug display by the compass, line_points and driver_view. To use, while the nodes are running type:

<code>
rosrun socrob_display srdisplay
</code>

== Examples ==

The driver.launch file will launch the OmniManual teleoperation utility along with a transformed view of the camera image, simulation a forward view with rear view mirror. Pressing ''h'' will show the terminal's commands.

The line_points node is an example of how to process and extract information from images.

SocrobOmniSoftware

2013-09-26T10:11:18Z

Jreis:

[[Image:Icon socrob.png|thumb|SocRob OMNI platform]]

== About ==

This page presents instructions and ROS drivers to use the SocRob OMNI platform. This platform does not contain any computer on-board, so everything must be connected to a laptop placed in the robot.

The software contains drivers for:
* motors -- control motors and receive odometry
* compass -- compass angle and motor temperatures, since both are connected to the same Arduino


There is a control hierarchy implemented in control_selector.

There are a few watchdogs implemented to stop the robot in extreme situations:
* camera_watchdog -- stops the robot if no image is received from the camera
* temperature_watchdog -- stops the robot is motors temperature becomes too high
* show_stopper -- fuses the information from watchdogs to determine if the robot must be stopped

== Software ==

=== SocRob ROS Packages ===

The source code can be found here: [[Media:SocRob_OMNI_ROS-1.0.tar.xz|SocRob_OMNI_ROS-1.0.tar.xz]]. This must be decompressed to a directory in the ROS_PACKAGE_PATH.

=== System Dependencies ===

Install system dependencies (Boost, libFTDI and curl) with:

<code>
sudo apt-get install libboost-all-dev libftdipp-dev libftdipp1 curl
</code>

=== FTDI Access Permissions ===

You might be able to use USB devices without this, but in some cases you must explicitly give permissions for your user to access FTDI devices over USB.

Create a Udev file as root with:

<code>
sudo nano /etc/udev/rules.d/10-socrob.rules
</code>

and fill it with

<code>
SUBSYSTEMS=="usb", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6001", OWNER="socrob"

SUBSYSTEMS=="usb", ATTRS{idVendor}=="2341", ATTRS{idProduct}=="0042", OWNER="socrob"
</code>

replacing socrob with your username.

== Usage ==

Please note:
* This software was extensively tested with ROS Fuerte.
* The environment variable MY_ID must be set to the robot number. For example: <code>export MY_ID=2</code>
* Ethernet must be configured with the static IP address 172.16.46.80. Camera IP is 172.16.46.8#(robot's number)
* When using a launch file, all of the ROS parameters must be initialized. Check ''driver.launch'' for an example.
* When using ''roscore'' without a launch file, the script to set the parameters must be run from inside socrob_ros with: <code>sh config/set_params_real.sh</code>

=== Packages ===
* socrob_ros -- All drivers that still depend on the old MeRMaID libraries and some examples.
* socrob_aux -- Independent ROS packages:
** mermaid_defines -- Legacy MeRMaID header with some typedefs and defines.
** mermaid_xml -- Legacy MeRMaID library to process xml files (new ROS projects should use yaml and rosparam).
** mjpeg_camera -- Network camera driver.
** socrob_base -- Base headers for SocRob code and Math template library.
** socrob_display -- Utility to display debug images.

== Motors Node ==

=== Subscribed Topics ===

* control_input_final -- Final command, fused by control_selector
* watchdogs/all_ok -- Final robot status, fused by show_stopper

=== Published Topics ===

* odometry -- Odometry
* world_info/isRunning -- Button state

=== Defined in ''src/Libraries/WorldDefinition.hpp'' ===

* MaximumSpeed -- Maximum speed of the robot

== Compass Node ==

=== Published Topics ===

* compass_angle -- Compass angle in radians
* temperature -- Motors temperature for each motor in degrees celsius



== MJPEG Camera Node ==

=== Published Topics ===

* image_raw -- Image stream from the camera

=== Parameters ===

* filename -- Camera URL or video filename to read (for the OMNI platform cameras use ''http://172.16.46.8#/video.mjpg'')

== Examples ==

The driver.launch file will launch the OmniManual teleoperation utility along with a transformed view of the camera image, simulation a forward view with rear view mirror. Pressing ''h'' will show the terminal's commands.

The line_points node is an example of how to process and extract information from images.

File:ROS Summer Course Day4 Slides.pdf

2013-07-26T17:54:29Z

Jreis: uploaded a new version of "File:ROS Summer Course Day4 Slides.pdf"

File:ROS Summer Course Day4 Slides.pdf

2013-07-26T15:38:25Z

Jreis: uploaded a new version of "File:ROS Summer Course Day4 Slides.pdf"

Summer course on ROS framework 2013

2013-07-26T15:36:47Z

Jreis:

'''Sponsored by project FP7-ICT-2011-9-601033 ([http://monarch-fp7.eu/ MOnarCH])'''

== Dates and location ==
* 23-26 July 2013
* LSDC1, 5th floor, North Tower (IST)
* 14h-19h
* limited to 30 atendees

== Summary ==

This short course will introduce the Robot Operating System (ROS) middleware, together with a short introduction to Python, C++, and GNU/Linux, being relevant resources for effective use of ROS. Python is a powerful high-level language, being particularly effective for rapid prototyping. C++ is one of the most widely used programming languages in use. And GNU/Linux is an open source operating system widely in use, capable of running in a wide range of devices (from embedded devices up to mainframe clusters).

The course is targeted to everyone with programming proficiency in C and knowledge of the object programming paradigm. It will have a strong practical component, since it will combine expository with hands-on sessions.

== Program ==

* Day 1 -- GNU/Linux operating system
* Day 2 -- C++ language
* Day 3 -- Python language
* Day 4 -- Robot Operating System (ROS)

== Organization and contact ==

* Rodrigo Ventura <rodrigo.ventura@isr.ist.utl.pt>
* João Reis <joaocgreis@gmail.com>

== Course materials ==

* [[Media:SCRF2013 intro1.pdf|Introduction to ROS]] (slides)
* [[Media:ROS_Summer_Course_Day1.pdf|GNU/Linux]] (lecture notes)
* [[Media:ROS_Summer_Course_Day2.pdf|C++ and C++ for ROS]] (links)
* [[Media:ROS_Summer_Course_Day2_Slides.pdf|C++ Slides]] (topics to explore)
* [[Media:Test_package.tar.xz|Example C++ ROS Node]]
* [[Media:SCRF2013 python.pdf|Python and ROS]] (slides)



* [[Media:ROS_Summer_Course_Day4_Slides.pdf|ROS packages part 2 and ROS overview part 1]] (slides)

File:ROS Summer Course Day4 Slides.pdf

2013-07-26T15:34:52Z

Jreis:

File:Test package.tar.xz

2013-07-26T15:32:46Z

Jreis:

File:ROS Summer Course Day2 Slides.pdf

2013-07-26T15:30:22Z

Jreis:

File:ROS Summer Course Day2.pdf

2013-07-26T15:29:33Z

Jreis:

File:ROS Summer Course Day1.pdf

2013-07-26T15:26:34Z

Jreis:

Summer course on ROS framework 2013

2013-07-25T12:38:32Z

Jreis:

'''Sponsored by project FP7-ICT-2011-9-601033 ([http://monarch-fp7.eu/ MOnarCH])'''

== Dates and location ==
* 23-26 July 2013
* LSDC1, 5th floor, North Tower (IST)
* 14h-19h
* limited to 30 atendees

== Summary ==

This short course will introduce the Robot Operating System (ROS) middleware, together with a short introduction to Python, C++, and GNU/Linux, being relevant resources for effective use of ROS. Python is a powerful high-level language, being particularly effective for rapid prototyping. C++ is one of the most widely used programming languages in use. And GNU/Linux is an open source operating system widely in use, capable of running in a wide range of devices (from embedded devices up to mainframe clusters).

The course is targeted to everyone with programming proficiency in C and knowledge of the object programming paradigm. It will have a strong practical component, since it will combine expository with hands-on sessions.

== Program ==

* Day 1 -- GNU/Linux operating system
* Day 2 -- C++ language
* Day 3 -- Python language
* Day 4 -- Robot Operating System (ROS)

== Organization and contact ==

* Rodrigo Ventura <rodrigo.ventura@isr.ist.utl.pt>
* João Reis <joaocgreis@gmail.com>

== Course materials ==

* [[Media:SCRF2013 intro1.pdf|Introduction to ROS]] (slides)
* [http://users.isr.ist.utl.pt/~jreis/ros/ROS_Summer_Course_Day1.pdf GNU/Linux] (lecture notes)
* [http://users.isr.ist.utl.pt/~jreis/ros/ROS_Summer_Course_Day2.pdf C++ and C++ for ROS] (links)
* [http://users.isr.ist.utl.pt/~jreis/ros/ROS_Summer_Course_Day2_Slides.pdf C++ Slides] (topics to explore)
* [http://users.isr.ist.utl.pt/~jreis/ros/test_package.tar.xz Example C++ ROS Node]