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mobile_vehicule [2015/10/28 18:16] mai [Requirements] |
mobile_vehicule [2019/04/25 14:08] |
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| - | ====== 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. | ||
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| - | ===== Requirements ===== | ||
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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. Then you have to go | ||
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| - | ===== Connections ===== | ||
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| - | Check connections | ||
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| - | ===== Instructions ===== | ||
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| - | To translate | ||
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| - | 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. | ||
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| - | Modification du code arduino (robot) | ||
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| - | 1/Dans un terminal, aller dans le repertoire arduino-1.6.5/ et lancer la commande sudo ./arduino | ||
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| - | 2/Vérifier que la carte est la bonne (arduino due) ansi que le port (arduino due programing port) | ||
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| - | 3/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}} | ||