After days with latex and struggling with all sensor data a mobile robot needs, today is the first day of ROS showing me a small map view. It’s anything but stable and I can’t claim understanding everything – but because I’ve hadn’t something to report for some time now here a small demonstration:
Topics Overview – amosero a distributed system still far from optimal
Because my IMU doesn’t do its work as it should, I’ve used a WiiMote Motion + and run it by a common ros driver and bluetooth.
ROS is amazing. After installing the xbox drivers (xboxdrv) on linux, following some well written instructions and writing about 100 lines of own code – the aMoSeRo is now able to be controlled by an xbox controller.
Driving the robot around the house revealed the real power behind the two RB-35 (1:30). Not to fast to control but very strong driving over piles of books the motors seemed to be a good choice.
Xbox – day 1
Xbox – day 1 front
Xbox – day 1 top
Some issues with the wheels – a lot of force beeing at work, especially along the positive and negative y-axis (see REP103 post) will be solved soon by some super glue 🙂
So demonstrating the robot in future will be a lot more easy and controllable – and a lot more fun!
Today we’ve had the honor to inform young high school students about the education possibilities of the Technical University Bergakademie Freiberg at their Open Day. In four hours I’ve learned howto explain everything about the aMoSeRo in a few sentences. Sadly we weren’t able to drive around because everything was very crowded, but we could demonstrate the 3D PointClouds a bit. So everybody was able to see the mathematics in infomatics by example 🙂
The only chance to take some photos had been before the day started, but here are some impressions:
Today the BHT which is a mining research forum in Freiberg, Germany took place. As the amosero should run as a support robot in mining somewhen this has been a great chance to firstly show off what we’ve got so far. After 4 weeks from zero to robot:
BHT – front view
BHT – 10:05 am waiting in front of the lecture hall
BHT – other drones are near by
BHT – moments before the presentation, the IR Camera is clearly running
BHT – during lecture hold by my academic advisor
BHT – view inside the box – not yet well organized, but working
So we were able to demonstrate the [amazon &title=Asus Xtion&text=Asus Xtion] Features like a live IR Image, some 1fps RGB DepthCloud visualized in RVIZ, driving around including to spot turn.
The plate cookie box we used had some negative effect on the wlan capacity, which we need to address soon by e.g. changing the material or excluding the antenna.
Had been a nice experience showing that little low cost ros robot to public an I am still very exited where the journey leads in the remaining 4 months of my thesis.
It’s still not easy finding the right combination and arrangement of all robot parts. Like mentioned in the previous post, SketchUp is a nice tool for easy 3D visualization using real physical dimensions. So I spend some time again:
NEMA17 probably getting replaced by RB-35s
concept phase II – ISO
concept phase II – ISO Xray
concept phase II – front
concept phase II – xray
concept phase II – top
concept phase II – top wireframe
concept phase II – back
concept phase II – back Xray
concept phase II – bottom Xray with dimensions
concept phase II – front wireframe with dimensions
So tomorrow I am trying to by the planned box and the new motors, hopefully posting real world photos soon.
Today I am trying to setup all parts of the coming robot. Because assembling and disassembling would take hours until finding the right configuration and saving steps in between it would be impossible – I thought of a better way. Using my shopworn SketchUp skills and way more time than I expected – finally there is a non perfect but practicable model with the most important parts that are going to be installed. All of them already have the correct physical dimensions which also means that it would be possible to deploy the robot in rviz later, or at least parts of it.
Here are some early stage impressions:
concept phase: iso view
concept phase: bottom view
concept phase: back view
concept phase: front view
The wireframe boxes are space required by usb plugs or power jacks. These need to be accessible and can’t be blocked by anything else.
This robot is not ready yet, everything needs to be rearranged and boxed soon. Some parts are still missing, and no cables are shown, so everything will be more packed than it looks like.
The CubieTruck (or so called Cubieboard 3) is the third board of CubieTeam. It is a new PCB-Version with a Allwinner A20 Chip, which has also been used in the CubieBoard 2. But now there is more RAM (2GB) and onBoard VGA-graphics Controller, onBoard Wifi (!) and BLuetooth. There are some more features mentioned below, but for my project the main advantages are: more processing power (2 stronger cores), lower power consumption (500mAh at 5V), lots of GPIOs (2mm!) and flash memory.
So I unboxed one today:
CubieTruck – Box
CubieTruck – a lot of additional equipment, including a case
CubieTruck – nicely packed
CubieTruck – an additional level for 2,5 inch HDD
CubieTruck – side
CubieTruck – side
CubieTruck – two sizes 5 and 5.5 where needed.
CubieTruck – connected to HDMI
It came with an android os flashed. So after some reading and kinda confusing tutorials I managed to get the correct version 13.04 of lubuntu server running on a sd card, installed ROS on it and was faced with some kind of paradies of ros hydro armhf packages!
Something I was really missing at the [amazon &title=Raspberry Pi&text=Raspberry Pi].
So after the first day of CubieBoard I am really looking forward to get this little fellow beeing the heart of my ROS Robot.
Allwinner Tech A20 SOC
54 extended pins
Built-in HDMI/ VGA display interface
Built-in WIFI+BT module
2GB DDR3 RAM
Built-in IR receiver
SPDIF audio interface
Allwinner Tech SOC A20 ARM® Cortex™-A7 Dual-Core ARM® Mali400 MP2 Complies with OpenGL ES 2.0/1.1
HDMI&VGA 1080P display output on-board
WIFI + BT wireless connection with antenna on-board
SATA 2.0 interface support 2.5’ HDD (for 3.5’ HDD, only need another 12V power input)
Storage solution NAND + MicroSD
2 x USB HOST, 1 x OTG, 1 x SPDIF, 1 x IR, 4 x LEDs, 1 x Headphone, 3 x Keys