Difference between revisions of "ROS"

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|[[Image:Robotino_ros_icon_64.png]]
 
|[[Image:Robotino_ros_icon_64.png]]
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|The [http://www.ros.org/wiki/ Robot Operating System ROS] hosted and maintained by [http://www.willowgarage.com/ Willow Garage] is a free meta operating system for mobile robots. This page describes the adaption of Robotino C++ API2 to ROS.
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|The [http://www.ros.org/wiki/ Robot Operating System ROS] hosted and maintained by [http://www.willowgarage.com/ Willow Garage] is a free meta operating system for mobile robots. This page describes the adaption of Robotino's REST-API to ROS.
 
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=== Package links ===
 
=== Package links ===
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[http://www.ros.org/wiki/robotino robotino] - Contains the essential packages for communicating with Robotino.
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[https://doc.openrobotino.org/ROS robotino_rest_node] - Contains the robotino_rest_node.
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[http://www.ros.org/wiki/robotino_grappler robotino_grappler] - If you own a [[Grappler]] then this stack provides packages to manipulate it with ROS.
 
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[http://www.ros.org/wiki/robotino_kinect robotino_kinect] - If you own a [[Kinect]] sensor then this stack provides packages to explore the possibilities of Robotino and Kinect in ROS.
 
 
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{{#ev:youtube|N7Gbe7vnufM}}
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==Overview==
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There are two nodes available for Robotino.
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* robotino_node
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* robotino_rest_node
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robotino_node depends on the [[API2]] package. robotino_node is a C++ node and needs to be compiled. robotino_rest_node is connecting to Robotino's [[Rest_api|restapid]], which provides a [https://de.wikipedia.org/wiki/Representational_State_Transfer RESTful API]. robotino_rest_node is pure [https://www.python.org/ Python].
  
 
==Installation==
 
==Installation==
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You will need a Linux (preferable Ubuntu) PC in order to run ROS. As we need much computational power for SLAM and especially path planning Robotinos PC104 is overstrained. So we use a laptop or desktop PC communicating to Robotino via wireless.
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Your Robotino needs to be updated to at least image >= 4.0.0 from [https://doc.openrobotino.org/download/tinycore/robotino4image/ here]. Make sure you updated to the latest [https://doc.openrobotino.org/ChangeLog/daemons.txt robotino-daemons] package. You need to install python-requests package.
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Install ROS. How to do this read [http://www.ros.org/wiki/ROS/Installation the ROS installation instructions].
 
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Install [[API2]] packages on Robotino.
 
  
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Get the Robotino ROS drivers:
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Download the latest [https://doc.openrobotino.org/ROS source] and integrate it into your catkin workspace.
  
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<code>svn co http://svn.openrobotino.org/robotino-ros-pkg/trunk/ robotino-ros-pkg</code>
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==Test==
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===Drive Robotino===
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'''Hydro (Catkin)'''
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Start the omnidrive script
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<pre>
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<code>svn co http://svn.openrobotino.org/robotino-ros-pkg/trunk/catkin-pkg/ robotino-ros-pkg</code>
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rosrun robotino_rest_node omnidrive.py
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NOTE: In the hydro version Kinect support from within robotino_node has be removed. For Kinect usage please use openni packages externally.
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</pre>
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The omnidrive script listens to the /cmd_vel topic. If no parameter is given the script sends received cmd_vel data to 127.0.0.1. If your ROS runs on a different machine than Robotino you need to specify Robotino's IP address.
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Put the robotino-ros-pkg into the ROS_PACKAGE_PATH. If everything is setup correctly you can run
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<pre>
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rosrun robotino_rest_node omnidrive.py ROBOTINO_IP_ADDRESS
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<code>For Fuerte: rosmake robotino</code>
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</pre>
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Publish to /cmd_vel to move Robotino forward with 0.1m/s. linear x,y is foward,sideward velocity and angular.z is rotational verlocity.
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<code>For Hydro and later (after creating the appropriate workspace and checking out the code): catkin_make</code>
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<pre>
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rostopic pub -r 10 /cmd_vel geometry_msgs/Twist  '{linear:  {x: 0.1, y: 0.0, z: 0.0}, angular: {x: 0.0,y: 0.0,z: 0.0}}'
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NOTE: You will need the ROS "navigation" stack in order to build and run the Robotino nodes.
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</pre>
  
 
==Hardware==
 
==Hardware==
 
What you really need to use ROS in a meaningful way is a [http://www.roboparts.de/robotino/scanner/en laser rangefinder for Robotino].
 
What you really need to use ROS in a meaningful way is a [http://www.roboparts.de/robotino/scanner/en laser rangefinder for Robotino].
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==Documents==
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[http://monticore.de/robotics/downloads/lab13.pdf RWTH Aachen: Lab Course Model-Based Robotics Software Development Implementation Notes]

Latest revision as of 16:01, 8 March 2019

Introduction

Robotino ros icon 64.png The Robot Operating System ROS hosted and maintained by Willow Garage is a free meta operating system for mobile robots. This page describes the adaption of Robotino's REST-API to ROS.

Package links

robotino_rest_node - Contains the robotino_rest_node.

Overview

There are two nodes available for Robotino.

  • robotino_node
  • robotino_rest_node

robotino_node depends on the API2 package. robotino_node is a C++ node and needs to be compiled. robotino_rest_node is connecting to Robotino's restapid, which provides a RESTful API. robotino_rest_node is pure Python.

Installation

Your Robotino needs to be updated to at least image >= 4.0.0 from here. Make sure you updated to the latest robotino-daemons package. You need to install python-requests package.

Download the latest source and integrate it into your catkin workspace.

Test

Drive Robotino

Start the omnidrive script 

rosrun robotino_rest_node omnidrive.py

The omnidrive script listens to the /cmd_vel topic. If no parameter is given the script sends received cmd_vel data to 127.0.0.1. If your ROS runs on a different machine than Robotino you need to specify Robotino's IP address. 

rosrun robotino_rest_node omnidrive.py ROBOTINO_IP_ADDRESS

Publish to /cmd_vel to move Robotino forward with 0.1m/s. linear x,y is foward,sideward velocity and angular.z is rotational verlocity. 

rostopic pub -r 10 /cmd_vel geometry_msgs/Twist  '{linear:  {x: 0.1, y: 0.0, z: 0.0}, angular: {x: 0.0,y: 0.0,z: 0.0}}'

Hardware

What you really need to use ROS in a meaningful way is a laser rangefinder for Robotino.

Documents

RWTH Aachen: Lab Course Model-Based Robotics Software Development Implementation Notes

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