Robot, Sensor, Motor

Textbook
P. 194~231

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Contents

I. Robot Packages
II. Sensor Packages
III. Camera
IV. Depth Camera
V. Laser Distance Sensor
VI. Motor Packages
VII. Dynamixel
VIII. How to use Open Packages
Textbook
P. 194~231

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Robot Packages

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Robot Package (http://robots.ros.org/)

4
Sensor Packages

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Sensor Package (http://wiki.ros.org/Sensors)

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Type of sensor package
• 1D Range Finders
• Infrared linear distance sensor that can be used to make low-cost robots
• 2D Range Finders
• Sensors that can measure the distance on 2D plane, and is mainly used for navigation
• 3D Sensors
• Sensors used in 3D distance measurement such as Intel’s RealSense, Microsoft’s Kinect, ASUS’s
Xtion
• Audio/Speech Recognition
• Currently, there are few voice recognition related parts, but it seems to be added continuously
• Cameras
• Camera driver used for object recognition, face recognition, character recognition, etc. and
various application packages
• Sensor Interfaces
• Very few sensors support USB and web protocols
• There are still many sensors that can acquire data from a microprocessor
• These sensors can be used with UART in MCU, or ROS in mini PC.

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 Practice Time
‘LRF, IMU, USB Camera,
Depth Camera, Robot Model
Let’s check through RViz’
Use the Rviz of your PC to observe the data
from the sensors that you have received
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Today’s Practice Material

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Sensor Package Practice #1 (USB Camera)
$ sudo apt-get install ros-kinetic-uvc-camera
If there are more than two cameras,
$ rosrun uvc_camera uvc_camera_node Enter the device number you want to use
$ rosrun uvc_camera uvc_camera_node _device:=/dev/video? instead of the question mark
(Especially, for notebooks)
$ rosrun image_view image_view image:=/image_raw
$ rqt_image_view image:=/image_raw Three ways to view image messages
$ rviz

* Change the display options of RViz

1) Change fixed frame
Global Options > Fixed Frame = camera
2) Add image display
Click ‘Add’ in the bottom left corner of Rviz, then select Image
(Add > by display > Rviz > Image)
3) Change topic value
Change the value of ‘Image > Image Topic’ to "/image_raw"
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Sensor Package Practice #1 (USB Camera)

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Sensor Package Practice #2 (Transfer images remotely)
Sensor PC Remote PC

ROS_MASTER_URI = http://IP_OF_REMOTE_PC:11311 ROS_MASTER_URI = http://IP_OF_REMOTE_PC:11311

ROS_HOSTNAME = IP_OF_SENSOR_PC ROS_HOSTNAME = IP_OF_REMOTE_PC

* Example of running ROS Master on a remote PC

• Modify ‘~/.bashrc’ for each PC (ROS_MASTER_URI and ROS_HOSTNAME)

• Run ’roscore’ & ’rqt_image_view image:=/image_raw’ on the remote PC
• Run ’rosrun uvc_camera’, ‘uvc_camera_node’ on the sensor PC
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Sensor Package Practice #3 (Camera Calibration)
$ sudo apt-get install ros-kinetic-camera-calibration
$ rosrun uvc_camera uvc_camera_node
$ rosrun camera_calibration cameracalibrator.py --size 8x6 --square 0.024 image:=/image_raw camera:=/camera

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Sensor Package Practice #4 (Depth Camera)
$ sudo apt-get install ros-kinetic-openni2-camera ros-kinetic-openni2-launch (In case of ASUS’s Xtion)
$ tar -xvf Sensor-Bin-Linux-x64-v5.1.0.41.tar.bz2
$ cd Sensor-Bin-Linux-x64-v5.1.0.41/
$ sudo sh install.sh
$ roslaunch openni2_launch openni2.launch

$ sudo apt-get install ros-kinetic-astra-camera ros-kinetic-astra-launch (In case of ASTRA)

$ wget https://raw.githubusercontent.com/tfoote/ros_astra_camera/master/orbbec-usb.rules
$ wget https://raw.githubusercontent.com/tfoote/ros_astra_camera/master/install.sh
$ sudo ./install.sh
$ roslaunch astra_launch astra.launch

* Change the display options of RViz

1) Change fixed frame
Change ‘Global Options > Fixed Frame’ to "camera_depth_frame"

2) Add & configure PointCloud2

Click ‘Add’ at the bottom left of rviz, then select PointCloud2

3) Change topic name & detail settings 14

Sensor Package Practice #4 (Depth Camera)
(In case of RealSense)

$ sudo apt-get install ros-kinetic-librealsense ros-kinetic-realsense-camera

$ roslaunch realsense_camera r200_nodelet_default.launch
$ rosrun rviz rviz -d rviz/realsenseRvizConfiguration1.rviz

* Change the display options of RViz

1) Change fixed frame

Change ‘Global Options > Fixed Frame’ to "camera_depth_frame"

2) Add & configure PointCloud2

Click ‘Add’ at the bottom left of rviz, then select PointCloud2

3) Change topic name & detail settings

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Sensor Package Practice #4 (Depth Camera)

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Sensor Package Practice #5 (Stereo Camera)
$ sudo apt-get install libv4l-dev libudev-dev ros-kinetic-rtabmap*
$ cd ~/catkin_ws/src/
$ svn export https://github.com/withrobot/oCam/trunk/Software/oCamS_ROS_Package/ocams
$ cd ~/catkin_ws/ && catkin_make
$ sudo gedit /etc/udev/rules.d/99-ttyacms.rules
ATTRS{idVendor}=="04b4" ATTRS{idProduct}=="00f9", MODE="0666", ENV{ID_MM_DEVICE_IGNORE}="1"
ATTRS{idVendor}=="04b4" ATTRS{idProduct}=="00f8", MODE="0666", ENV{ID_MM_DEVICE_IGNORE}="1"
$ sudo udevadm control --reload-rules
$ roslaunch ocams pointcloud.launch
(In case of oCam-Stereo)

https://github.com/withrobot/oCam/tree/master/Products/oCamS-1CGN-U

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Sensor Package Practice #6 (LDS)

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 Sensor Package Practice #6 (LDS)
$ cs (In case of LDS)
$ git clone https://github.com/ROBOTIS-GIT/hls_lfcd_lds_driver.git
$ cm
$ sudo chmod a+rw /dev/ttyUSB0
$ roslaunch hls_lfcd_lds_driver view_hlds_laser.launch
$ cs (In case of RPLiDAR)
$ git clone https://github.com/robopeak/rplidar_ros.git
$ cm
$ sudo chmod a+rw /dev/ttyUSB0
$ roslaunch rplidar_ros rplidar.launch
$ sudo apt-get install ros-kinetic-urg-node (In case of HOKUYO)
$ sudo chmod a+rw /dev/ttyACM0
$ rosrun urg_node urg_node

* Change the display options of RViz

1) Change fixed frame: Global Options > Fixed Frame = laser
2) Add & configure Axes: Click ‘Add’ at the bottom left of rviz, then add Axes (Change ‘Length’ & ‘Radius’ is option)
3) Add & configure LaserScan: Click ‘Add’ at the bottom left of rviz, then add LaserScan
(Topic designation is required, ‘Color Transformer’, ‘Color’, etc. are options)
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Sensor Package Practice #6 (LDS)
Views:TopDownOrtho
Fixed Frame：laser

Axis Length：1
Axis Radius：0.1
Topic name：/scan

Color Conversion Criteria：FlatColor

Color：255;0;0 (Red)

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Sensor Package Practice #7 (IMU)
$ cs (In case of withrobot’s myAHRS+)
$ git clone https://github.com/robotpilot/myahrs_driver.git
$ cm
$ sudo chmod a+rw /dev/ttyACM0
$ roslaunch myahrs_driver myahrs_driver.launch

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Motor Packages

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Motor Package (http://wiki.ros.org/Motor%20Controller%20Drivers)

• PhidgetMotorControl HC
• Roboteq AX2550 Motor Controller
• ROBOTIS Dynamixel

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Contorolling Dynamixel with ROS Package
• DynamixelSDK (http://wiki.ros.org/dynamixel_sdk)
• Support 3 representative OS (Linux, Windows, MacOS)
• Support programming language such as C, C++, C#, Python, Java, MATLAB,
LabVIEW, etc.
• Support ROS

• dynamixel_workbench (http://wiki.ros.org/dynamixel_workbench)
• Provide a variety of examples for ease of use in ROS
• Provide GUI tool for ROS
U2D2

SMPS2DYNAMIXEL Dynamixel 24
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