====== Mobile Vehicle ======

This sub-projects targets the displacement of the robot. The mobile robot can follow someone or go to a specific destination while avoiding collisions. It uses a kinect in order to detect the people and the objects. 
The robot is a yellow FiveBOT003 Omni 3 Wheel Drive Robotic Platform {{::0-fb003_quick-start.pdf|}}. 
The robot uses an [[arduino|Arduino]] Due micro-controller.


{{tag>project robot, hardware}}

===== Requirements =====
{{tag>tutorial}}

The arm must be connected to a computer using a Linux Operating System. The project also needs [[ROS]] installed with the Indigo distro. 

You must also install the openni_tracker_modified package [[OpenniTrackerModified]] with the driver for the kinect [[LinkToDriver]] and the rosserial_arduino package http://wiki.ros.org/rosserial_arduino/Tutorials/Arduino%20IDE%20Setup. If you don't know how to do this, see the tutorial http://wiki.ros.org/ROS/Tutorials/CreatingPackage. You have to use the Indigo distro and the Catkin package type.

To finish, you have to install the version 1.6.5 or 1.6.6 of the [[arduino|Arduino IDE]] on your computer https://www.arduino.cc/en/Main/Software. 


===== Connections =====

====Encoders connections====
{{:encoder_connexion.png?1200|}}

====Motors connections====
{{:motor_control.png?1200|}}


===== Instructions =====

  - Connect the computer to the arduino Due
  - Open a console and enter the command "roscore"
  - Open a new console and enter the command "rosrun rosserial_python serial_node.py /dev/ttyACM0 _baud:=19200"
  - [...]
  - Supply the platform with a 12V supplier
  - Do the Psi pose in front of the kinect, until you are detected.
  - When you move away from the robot, the robot will follow you. Inversely, when you get closer to the robot, he will go away. Moreover, the robot will turn toward you if you move.
  - If you want to debug the program, there is a Ros topic used by the platform to give indications of what it is doing. In order to listen this topic, open a new console and enter the command rostopic echo /chatter

===== Known problems =====

- When you are uploading the code on the arsuino Due, be sure to have stop the rosserial_python process.

- If the wheels are turning in the bad way, are too fast or are trembling, check the connections of the motors supply (AO1 and AO2) and the connections of the encoders.

===== Source Code =====

Code for arduino : {{:robot_movement.tar.gz|}}

{{tag>software}}