I reactivated my old laptop and released the source code of the amosero robot. In case you want to build your own – do not hesitate to contact me to get a detailed construction info for free.
Have a nice day!
Category Archives: my robots
Random thoughs in Lego
Random thoughts
aMoSeRo – 3D Cheese!
I have implemented a 3D photo function that is computational not very intensive. It gets triggered by pressing a key when a snapshot is wanted. By that it is possible to add a big Point Cloud around the map as you can see here:
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- 3D Mapping: First steps
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- 3D Mapping: crossing a door
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- 3D Mapping: colors are still quite random, but changes to that are planned
Now writing needs to be finished, code needs to be commented and cleaned up – last two weeks already begun.
aMoSeRo – mapping the reality
Today is the day of the first accurate aMoSeRo map. I tried several slamming algorithms e.g. the hector_mapping package, but data has been to bad. So after reviewing nearly all my code, fixing a lot of unit issues and publishing rates, today the first map has been created, which really is a map of the place I am living!
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- Mapping: faulty sensor data lead to strange rooms
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- Mapping: First experiments… …at least the walls are not round anymore…
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- Mapping: the journey begins
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- Mapping: all the well measured way
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- Mapping: up to the next rooms
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- Mapping: Point cloud data is possible, but only while standing (computation issues)
Resistance to Odometry is futile
It sure is. But a good odometry in a robotic context is an objective that is hard to achieve. For a robot like the aMoSeRo only two main velocities are relevant: linear and angular speed. Both do not occur on the same time, but still – correctly determining any of them is essential as most higher algorithms like slamming and planning highly depend on it. For me in a out of time running thesis, this task can be the biggest still kinda opened challenge.
All other system parts like gmapping, robot_pose_ekf, tf_broadcasts, sensor code, drivers, dynamic_reconfigure (insert long list of other important things here) are up and well enough running. Most of the thesis is written, only evaluation (experiments) and conclusion (the big round up in the end) is still missing.
Therefore I am really looking forward to a time after my thesis – full of well deserved sleep and a university degree 🙂
thesis writing intermediate state
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It has been really quiet in this blog recently. This is because I am currently writing my thesis in latex. Therefore I thought today is a good moment to tell you about some things i learned since the last post.
I have been putting lots of effort into the history of mobile robotics, have been researching some sources and achieved some knowledge about the recent development of Willow Garage, Boston Dynamics and some universities like the TU-Darmstadt.
hence I now distinguish between mobile robots, UGVs and AGVs, consider Willow Garage as possibly dead (even if it isn’t since the majority of employees moved in February) and feel deep respect of whats possible with legged robots shown by Boston Dynamics.
Time is running, it’s scary and spectacular at the same time regarding what is possible with mobile robots. My first 10k of words have been written and there is sill a lot more to be done until the 29th of September 2014.
aMoSeRo – leaving the virtual cookie box
It is only consequent to leave the virtual cookie box too:
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- Leaving the virtual cookie box – top off
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- Leaving the virtual cookie box – top off 2
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- Leaving the virtual cookie box – iso 1
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- Leaving the virtual cookie box – iso 2
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- Leaving the virtual cookie box – iso 3
aMoSeRo – leaving the cookie box
Finding a low cost case isn’t as easy as expected – even with some common dimensions around 200mm*200mm*50mm the only inexpensive thing I found, was an star wars cookie box made out of thin plate.
So to change that I went to a DIY-Store today (or Baumarkt in german) and bought a 2 meters aluminium mopboard, some metal glue, acrylic glass and went to the basement:
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- BoxCon – Pic 00
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- BoxCon – Pic 01
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- BoxCon – Pic 02
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- BoxCon – Pic 03 metal glue instructions
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- BoxCon – Pic 04 metal glue
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- BoxCon – Pic 05
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- BoxCon – Pic 06
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- BoxCon – Pic 07
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- BoxCon – Pic 08
But after cleaning the gluey mess off the table with spiritus, taking a well deserved shower and waiting 24 hours for the glue to get its full power the result is something able to be shown:
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- aMoSeRo new case – front
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- aMoSeRo new case – iso
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- aMoSeRo new case – top
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- aMoSeRo new case – top 2
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- aMoSeRo new case – top 3
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- aMoSeRo new case – top 4
It’s a bit bigger than before but provides the basic functions in only 40 mm height. So we’ve got a real mobile plattform (base_footprint) for all upcoming modules (i.g. mesh networks, robot arms, flying drones or sensors like Geiger-Müller counters).
We’ve reached half time! Lets see whats still possible 🙂
aMoSeRo at Dresdner Berufsorientierungstage
For multiple reasons the TU Bergakademie Freiberg took part in the Dresdner Berufsorientierungstage at the day of mathematics on the 15th of July 2014.
I had the honor to take part on demonstrate the aMoSeRo to hundrets of children. Next to it we showed some two dancing NAOs and the LeapMotion – all to explain the need of mathematics and informatics for future applications.
Some impressions:
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- DBOT – kinds around the NAOs
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- DBOT – a NAO
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- DBOT – LeapMotion and aMoSeRo