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mobile_vehicule [2016/02/19 12:59] nfave [Connections] |
mobile_vehicule [2019/04/25 14:08] |
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| - | ====== 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. | ||
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| - | {{tag>project robot, hardware}} | ||
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| - | ===== Requirements ===== | ||
| - | {{tag>tutorial}} | ||
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| - | The arm must be connected to a computer using a Linux Operating System. The project also needs [[ROS]] installed with the Indigo distro. | ||
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| - | 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. | ||
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| - | To finish, you have to install the last version of the [[arduino|Arduino IDE]] on your computer https://www.arduino.cc/en/Main/Software. | ||
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| - | ===== Connections ===== | ||
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| - | ====encoders connexions==== | ||
| - | {{:encoder_connexion.png?1200|}} | ||
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| - | ====motors connexions==== | ||
| - | {{:motor_control.png?1200|}} | ||
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| - | ===== Instructions ===== | ||
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| - | To translate | ||
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| - | - Connecter le cable micro usb à l'arduino. | ||
| - | - Ouvrez un autre terminal et lancer la commande roscore | ||
| - | - Ouvrez un autre terminal et lancer la commande rosrun rosserial_python serial_node.py /dev/ttyACM0 _baud:=115200 | ||
| - | - Ouvrez un autre terminal, lancez la commande source ~/catkin_ws/devel/setup.bash | ||
| - | - Dans ce même terminal, lancez la commande rosrun openni_tracker_modified openni_tracker_modified | ||
| - | - Faites la pose Psi devant la kinect, jusqu'à ce qu'un message indique que la calibration a été effectuée | ||
| - | - En vous éloignant ou en vous rapprochant de la kinect, cela doit activer ou non les moteurs du robot. | ||
| - | - Vous pouvez observer les topics torsoPosition et chatter pour connaitre votre position selon l point de vu de la kinect ou du robot. Pour cela, lancer dans un autre teminal la commande rostopic echo <nom de votre topic> | ||
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| - | Modification du code openni_tracker_modified (kinect) | ||
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| - | - Allez dans le repertoire ~/catkin_ws/src/openni_tracker_modified/src/openni_tracker_modified.cpp, puis faites vos modifications. | ||
| - | - Il faut ensuite dans un terminal faire la commande source ~/catkin_ws/devel/setup.bash si ce n'est pas déjà fait, puis allez dans le repertoire catkin_ws et lancer la commande catkin_make. | ||
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| - | Modification du code arduino (robot) | ||
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| - | - Dans un terminal, aller dans le repertoire arduino-1.6.5/ et lancer la commande sudo ./arduino | ||
| - | - Vérifier que la carte est la bonne (arduino due) ansi que le port (arduino due programing port) | ||
| - | - Vérifiez puis téléverser le code | ||
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| - | ===== Source Code ===== | ||
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| - | Code for arduino : {{:robot_movement.tar.gz|}} | ||
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| - | {{tag>software}} | ||