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mobile_vehicule [2015/10/28 18:24] mai |
mobile_vehicule [2016/02/19 13:01] nfave [Motors connexions] |
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| ====== Mobile Vehicle ====== | ====== 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 uses an [[arduino|Arduino]] Due micro-controller. | + | 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}} | + | {{tag>project robot, hardware}} |
| ===== Requirements ===== | ===== Requirements ===== | ||
| - | {{tag>>tutorial}} | + | {{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. | ||
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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. | 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 last version 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|}} | ||
| + | |||
| + | ====Motors connections==== | ||
| + | {{:motor_control.png?1200|}} | ||
| ===== Instructions ===== | ===== Instructions ===== | ||
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| - Allez dans le repertoire ~/catkin_ws/src/openni_tracker_modified/src/openni_tracker_modified.cpp, puis faites vos modifications. | - 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. | + | - 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. |