Rose-Hulman Robotics Team

software/status

Software Team Progress

Please update this page at least every Wednesday (and Sunday if you can't be at the subteam meeting) with your progress.

  • Laura: Got Wiimote working (12/14)

CSSE290 Winter Class

Summary of Results from CSSE 290 Winter Term

Imaging

  • Brennan: Detecting the location of the barrels after the conversion of the picture to highlight all barrels in red.
  • Allison: Installed Software
  • Allison: wrote basic color detection
  • Tayler: Working on Algorithm for Barrel and other obstacle recognition. Now Integrating with ROS.

 Base Move

  • Derek & Mendel: Compiled the source code successfully, and the test results were positive (1/15)
  • Derek & Mendel: future task is now changing the C++ controller code for MDC2250 + Moxom, must be mounted on Moxom to test encoders well

HuskyBot

To-Do:

  • Imaging:
    • texture -- Allison, Brennan, Tayler?
    • cv edge detection -- Allison, Brennan, Tayler?
    • figure out the real world location of objects based on the location of pixels
    • send ross data
  • Get Dimensions of Husky -- Caleb
  • Safety Protocol -- Caleb
  • WiiMote Functionality Maximization (i.e. adding Camera Control; better speed control) -- Jiaren
  • Handiboard Sensor Obstacle Detection & Translation from Interactive C to Python -- Caleb
  • Kinect / LIDAR Mapping (wall/ obstacle detection & evasion) -- Cameron, Jiaren, Caleb
  • Line Following via ROS (after the previous Item)
  • GPS Navigation -- Cameron

Turtlebot

  • Connor: Corrected startup and networking instructions. Looking with Phil for way to deal with power issues, specifically, battery not lasting more than few minutes.
  • Phil: Met with Connor and got the wireless working. (12/18)
  • Team: Investigated new method of operating turtlebot through running all software on tablet rather than split between workstation and tablet with goal of increasing usability and ease of operation by reducing daily configuration tasks. (1/4)

To-Do

  • Find way to store turtlebot without it getting unplugged. Or stolen. But mostly unplugged.
  • Get rviz working with autonomous or semi-autonomous navigation of existing and/or new maps
  • Continued documentation of process for turtlebot startup and use
  • Add an additional sensor

CSSE290 Fall Class

  • Arjun: Mostly working on my research work (post on my current  progress). Worked with Nick on getting the line detector to work on real run images.
  • Nick: Here is my write up summary for work done for Vision this past quarter. Code has been removed from githb and added to the Robotic Team SVN. (11/9)
  • Phil: Linux and ROS installed on the netbook we were given to use for the TurtleBot.
  • Matt: Worked with Arjun and Nick for the first part of the course on the Vision. Then worked with Phil in setting up  ROS on the netbook for the TurtleBot. I also ordered the materials and fabricated all of the parts for the  TurtleBot. Construction will be completed soon and  mapping will be demonstrated soon after.

Turtlebot Basic Operating Instructions

"Turtlebot" refers to the tablet that runs the Turtlebot. "Workstation" refers to the laptop connecting to the Turtlebot.

* Turn the turtlebot on, and plug in the kinect and the serial port adapter to the turtlebot tablet.

Network Configuration

Due to IAIT restricting name resolution, whether by malice or neglect, the hosts file on the turtlebot and workstation must be modified with the new IP address whenever it changes.

To edit hosts on Linux

  • sudo nano /etc/hosts
  • Add 10.10.10.10 turtlebot and 10.10.10.10 workstation where turtlebot and workstation are the respective machine names, and 10.10.10.10 the respective IP's of the two machines.
  • Perform this change on both turtlebot and workstation and update whenever an IP changes

To edit ROS_HOSTNAME and ROS_MASTER_URI

  • On both turtlebot and laptop: echo export ROS_MASTER_URI= http://IP_OF_WORKSTATION:11311 >> ~/.bashrc
  • Place # to edit this out: On Turtlebot: echo export ROS_HOSTNAME=IP_OF_TURTLEBOT >> ~/.bashrc
  • Place # to edit this out: On Workstation: echo export ROS_HOSTNAME=IP_OF_WORKSTATION >> ~/.bashrc
  • Special note: To update these values when the IP changes: sudo nano ~/.bashrc
  • Go to the bottom of the configuration file and edit the IP's as required and remove any duplicate hostnames/master_URIs

To bringup the Turtlebot

  • Close and restart SSH and terminal sessions on both workstation and Turtlebot so that the new bashrc settings you just modified take place. Note you will need multiple terminals and SSH'd terminals as well

On the Turtlebot

  • sudo service turtlebot start
  • roslaunch turtlebot_bringup kinect.launch and/or roslaunch turtlebot_bringup minimal.launch

On the Workstation

  • rosrun turtlebot_dashboard turtlebot_dashboard&
  • Turtlebot should now be online and the dashboard should be showing status

Running Applications

Interactive Marker Server

Calibration

SLAM Map Building

Autonomous Navigation

Kinect Visualization

Teleoperation