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Capstone1 2021 Spring

KAIST 2021 Spring Capstone Design 1

This is a repository for capstone design 1 codes. All the codes are just for your reference, so change the code as necessary (e.g. topic name, ball size and color).

To download the package, write the command below in ~/catkin_ws/src terminal.

git clone https://github.com/kaistcapstone/Capstone1_2021Spring.git

ball_detection

Node for detecting red balls.

It publishes the information of ball position and color by calculating geometry between the robot and balls.

Usage

rosrun ball_detection ball_detection_node

coppeliasim_models

map_ver_x.ttt, bonus_map.ttt, my_robot_ver_x.ttm files

Map and my_robot can be updated later, so please check the notice board on klms regularly.

Just drag and drop files to coppeliasim window.

For reference, urdf file for my_robot is uploaded.

  1. mylidar_hokuyo.ttm
  • ROS

frame : base_scan

topic : /scan

msg type : sensor_msgs::LaserScan

  • Lidar specs

rate : 5Hz

resolution : 1 deg -> 360 points per 1 scan

min range : 0.12 m

max range : 3.5 m

  1. myimu.ttm
  • ROS

frame : imu

topic : /imu

msg type : sensor_msgs::Imu

  1. mykinect.ttm
  • Camera parameters

FOV (field of view) : 57 deg

W : 640 pixels

H : 480 pixels

f : 589.37 pixels

core_msgs

A package for defining custom messages used in all codes.

ex) ball_position.msg

data_integrate

Subscribing lidar(laser_scan) and camera data and do something

You need to change data type of lidar, topic name of both sensors, publishing cmd_vel type to use the node correctly.

ex) /scan -> /laser_scan, sensor_msgs::laser_scan -> sensor_msgs::PointCloud

Usage

# data integrate
rosrun data_integrate data_integrate_node
# data show
rosrun data_integrate data_show_node

robot_teleop

Nodes for manually manipulating the gripper and robot wheels.

Usage

# gripper
rosrun robot_teleop prismatic_teleop_key
# wheel
rosrun robot_teleop wheel_teleop_key

Tips

  • If the prismatic joint fall down, check "Lock motor when target velocity is zero" in Joint Dynamic Properties in CoppeliaSim.
  • Click "Toggle real-time mode" when you test your algorithms in simulator.
  • ...

Troubleshooting

  • TBA

Contact

Jonghwi Kim [email protected]

Haggi Do [email protected]

Kyungseo Kim [email protected]