https://wiki-robot.enstb.org/ 2026-05-01T15:27:33+0000 https://wiki-robot.enstb.org/ https://wiki-robot.enstb.org/lib/tpl/bootstrap3/images/favicon.ico text/html 2019-04-25T14:08:57+0000 Anonymous (anonymous@undisclosed.example.com) https://wiki-robot.enstb.org/doku.php?id=robocup:kinect_aux_robotic_arm_package&rev=1556201337&do=diff Kinect_aux_robotic_arm (ROS package) ros ros_package software kinect Overview This package is the modified version of the kinect_aux package . It is used to modify the angle of the kinect (between -50° and 0° in absolute angle thanks to the accelerometer in the kinect). Installation This package was developed for the Indigo distro and is using the catkin package type and works with the model 1414 of the kinect but not with the model 1473. text/html 2019-04-25T14:08:57+0000 Anonymous (anonymous@undisclosed.example.com) https://wiki-robot.enstb.org/doku.php?id=robocup:object_detection&rev=1556201337&do=diff kinect tutorial Requirement Be sure to have the 1414 model for the kinect, else you won't be able to control its angle with ROS. These tests were done using ROS with the indigo distro. Instructions * Plug the kinect on the computer and on the socket. * Open a terminal and enter the command text/html 2019-04-25T14:08:57+0000 Anonymous (anonymous@undisclosed.example.com) https://wiki-robot.enstb.org/doku.php?id=robocup:objects_detection_package&rev=1556201337&do=diff Object_detection (ROS package) ros ros_package software kinect Overview This package use a kinect with the ros package openni_launch in order to detect a specific type of object. Currently, it can only detect the red objects. Installation This package was developed for the Indigo distro and is using the catkin package type. text/html 2019-04-25T14:08:57+0000 Anonymous (anonymous@undisclosed.example.com) https://wiki-robot.enstb.org/doku.php?id=robocup:robotic_arm&rev=1556201337&do=diff Robotic Arm project robot The robotic arm is part of the robocup project. Its purpose is to detect and catch specifics objects and displace them to another position. The arm is composed of 4 used dynamixels (two EX-106+, one RX64 and one MX28) who communicate via the USB2Dynamixel device. text/html 2019-04-25T14:08:57+0000 Anonymous (anonymous@undisclosed.example.com) https://wiki-robot.enstb.org/doku.php?id=robocup:robotic_arm_controler_package&rev=1556201337&do=diff Robotic_arm_controler (ROS package) ros ros_package software Overview This package do the link between robotic_arm_package, the objects_detection_package and the user. It also possesses a launch file that launch all these packages. When this package receive a target position (/arm_controler/new_coordinates), it will move the object on the last position known to the new position text/html 2019-04-25T14:08:57+0000 Anonymous (anonymous@undisclosed.example.com) https://wiki-robot.enstb.org/doku.php?id=robocup:robotic_arm_package&rev=1556201337&do=diff Robotic_arm (ROS package) ros ros_package software Overview This package cover the low and medium level for the robotic arm of the robocup project. It controls the servomotors of the arm and calculate the angle of each servomotors in order to go to a specific position. It also control the hand with two option : close hand and open hand. For controlling the hand, this code must be upload on the maple mini. text/html 2019-04-25T14:08:57+0000 Anonymous (anonymous@undisclosed.example.com) https://wiki-robot.enstb.org/doku.php?id=robocup:ros_architecture&rev=1556201337&do=diff Ros Architecture (Robocup) First Version ros Communication between the nodes ROS msgs used Pose PoseArray Pose2D Int32 Specific messages message_type Command int type de movement : 1 -> follow, 2 -> take object, 3 -> go to int reference : reference to a person to follow or to an object to take