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mobile_vehicule [2015/10/28 18:16] mai [Requirements] |
mobile_vehicule [2016/02/19 13:52] nfave [Requirements] |
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| ====== Mobile Vehicle ====== | ====== Mobile Vehicle ====== | ||
| - | This part concerned the displacement of the robot. It can follow someone or go to a specific destination while avoiding collisions. The robot use a kinect in order to detect the persons and the objects. The robot use an Arduino Uno micro-controler. | + | 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}} | ||
| ===== Requirements ===== | ===== 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. | + | 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. | 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 last version of the [[arduino|Arduino IDE]] on your computer https://www.arduino.cc/en/Main/Software. Then you have to go | + | 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 ===== | ===== Connections ===== | ||
| - | Check connections | + | ====Encoders connections==== |
| + | {{:encoder_connexion.png?1200|}} | ||
| - | ===== Instructions ===== | + | ====Motors connections==== |
| + | {{:motor_control.png?1200|}} | ||
| - | To translate | ||
| - | |||
| - | 1/Connecter le cable micro usb à l'arduino. | ||
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| - | 2/Ouvrez un autre terminal et lancer la commande roscore | ||
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| - | 3/Ouvrez un autre terminal et lancer la commande rosrun rosserial_python serial_node.py /dev/ttyACM0 _baud:=115200 | ||
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| - | 4/Ouvrez un autre terminal, lancez la commande source ~/catkin_ws/devel/setup.bash | ||
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| - | 5/Dans ce même terminal, lancez la commande rosrun openni_tracker_modified openni_tracker_modified | ||
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| - | 6/Faite la pose Psi devant la kinect, jusqu'à ce qu'un message indique que la calibration a été effectuée | ||
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| - | 7/En vous éloignant ou en vous rapprochant de la kinect, cela doit activer ou non les moteurs du robot. | ||
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| - | 8/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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| - | 1/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 pas déjà fait, puis allez dans le repertoire catkin_ws et lancer la commande catkin_make. | ||
| + | ===== Instructions ===== | ||
| - | Modification du code arduino (robot) | + | - 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:=115200" | ||
| + | - [...] | ||
| + | - 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 | ||
| - | 1/Dans un terminal, aller dans le repertoire arduino-1.6.5/ et lancer la commande sudo ./arduino | + | ===== Known problems ===== |
| - | 2/Vérifier que la carte est la bonne (arduino due) ansi que le port (arduino due programing port) | + | - When you are uploading the code on the arsuino Due, be sure to have stop the rosserial_python process. |
| - | 3/Vérifiez puis téléverser le code | + | - 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 ===== | ===== Source Code ===== | ||