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Table of Contents
Semana de la robotica 2016
Miercoles (NAOs, simulador robot humanoide)
Jueves (Microcontroladores, Impresora 3D, ROS)
Microcontroladores
External links:
Impresora 3D
ROS
Tutoriales de ROS en pdf
catkin_tutorials_create_a_workspace_-_ros_wiki.pdf
catkin_tutorials_creatingpackage_-_ros_wiki.pdf
rospy_tutorials_tutorials_writingpublishersubscriber_-_ros_wiki.pdf
talker.py
#!/usr/bin/env python
import rospy
from std_msgs.msg import String
def talker():
pub = rospy.Publisher('chatter', String, queue_size=10)
rospy.init_node('talker', anonymous=True)
rate = rospy.Rate(10) # 10hz
while not rospy.is_shutdown():
hello_str = "hello world %s" % rospy.get_time()
rospy.loginfo(hello_str)
pub.publish(hello_str)
rate.sleep()
if __name__ == '__main__':
try:
talker()
except rospy.ROSInterruptException:
pass
listener.py
#!/usr/bin/env python
import rospy
from std_msgs.msg import String
def callback(data):
rospy.loginfo(rospy.get_caller_id() + "I heard %s", data.data)
def listener():
# In ROS, nodes are uniquely named. If two nodes with the same
# node are launched, the previous one is kicked off. The
# anonymous=True flag means that rospy will choose a unique
# name for our 'talker' node so that multiple talkers can
# run simultaneously.
rospy.init_node('listener', anonymous=True)
rospy.Subscriber("chatter", String, callback)
# spin() simply keeps python from exiting until this node is stopped
rospy.spin()
if __name__ == '__main__':
listener()
Retos!
Neato navigation
Simulador con gazebo o stage (Team Gazebo)
Conectividad, comunicación, visualización en rviz y control con joystick
- —- Grupo Nodo-Neato —–
- Participantes: Elvis, Kathleen,Erick,Luis Marifer
Links: http://wiki.ros.org/teleop_twist_keyboard teleop_twist_keyboard - ROS Wiki wiki.ros.org http://wiki.ros.org/stdr_simulator/Tutorials/Teleop%20with%20teleop_twist_keyboard http://wiki.ros.org/2dnav_neato http://wiki.ros.org/neato_robot http://www.ros.org/search/index.html?cx=018259903093183594226%3Atxvzw9fat6w&cof=FORID%3A11%3BNB%3A1&filter=0&num=10&ie=UTF-8&input=neato&q=neato&sa=Submit Chat conversation end
Código que funciona con el neato ahora.
https://github.com/wphan/neato_robot
https://www.gumstix.com/tutorial/laser-mapping-with-a-neato-xv-signature-robot-vacuum/
http://forums.trossenrobotics.com/showthread.php?6859-Neato-ROS!
https://xv11hacking.wikispaces.com/Open+source+Linux+for+Neato+XV-
http://meetjanez.splet.arnes.si/2015/08/22/neato-xv-11-to-ros-slam/
Mapeo, localización y navegación autónoma
Construcción base
Armar el cuerpo
Armar la electrónica
Controlar la electrónica de los motores y sensores
Comunicación entre el microcontrolador y la PC
Modulo de ros o yarp
Controlar con un joystick
+++++++++++++++++++++++++++++++++++++++++++++++++++++Team Car+++++++++++++++++++++++++++++++++++++++++++++++++++++
Andrea-James-Ariel-Osvaldo-Mauricio-Marcos
Gear Motor Data Sheet : http://www.robotshop.com/media/files/pdf/datasheet-1442.pdf
STM32F4-Discovery Data Sheet: http://www.st.com/st-web-ui/static/active/en/resource/technical/document/data_brief/DM00037955.pdf
STM32F4-Discovery User Manual: http://www.st.com/st-web-ui/static/active/cn/resource/technical/document/user_manual/DM00039084.pdf
Tutoriales L298N Dual Motor Controller: http://electronilab.co/tutoriales/tutorial-de-uso-driver-dual-l298n-para-motores-dc-y-paso-a-paso-con-arduino/
http://tronixlabs.com/news/tutorial-l298n-dual-motor-controller-module-2a-and-arduino/
+++++++++++++++++++++++++++++++++++++++++++++++++++++Team JoyNeato+++++++++++++++++++++++++++++++++++++++++++++
Jose Carlos Hernandez Cascante
Francisco Garcia Lopez
Ricardo Ramirez Barquero
Connect a PS3 joystick to Ubuntu: http://wiki.ros.org/ps3joy/Tutorials/PairingJoystickAndBluetoothDongle
ps3joy Package Info: http://wiki.ros.org/ps3joy#ROS_API
Configuring and Using a Linux-Supported Joystick with ROS: http://wiki.ros.org/joy/Tutorials/ConfiguringALinuxJoystick
teleop_twist_joy Package Info: http://wiki.ros.org/teleop_twist_joy