Ruben-RV-ROS01 - Revision history

Victorm at 18:33, 15 January 2015

2015-01-15T18:33:48Z

← Older revision		Revision as of 18:33, 15 January 2015
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	* '''Degree:''' Summer Research Residence		* '''Degree:''' Summer Research Residence
	* '''Authors:''' Rubén Rodríguez Fernández		* '''Authors:''' Rubén Rodríguez Fernández
	* '''Contact:''' runix404@gmail.com		* '''Contact:''' runix404@gmail.com, rrodrf04@estudiantes.unileon.es
	* '''Tags:''' ROS, navigation, turtlebot		* '''Tags:''' ROS, navigation, turtlebot
	* '''Technologies:''' kinect, pcl, openni, c++, cmake, ROS		* '''Technologies:''' kinect, pcl, openni, c++, cmake, ROS

Victorm at 10:38, 25 June 2014

2014-06-25T10:38:26Z

← Older revision		Revision as of 10:38, 25 June 2014
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	* '''Project name:''' Turtlebot robot indoor navigation		* '''Project name:''' Turtlebot robot indoor navigation

	* '''Dates:''' July 2013 -		* '''Dates:''' July 2013 -

	* '''Degree:''' Summer Research Residence		* '''Degree:''' Summer Research Residence
			* '''Authors:''' Rubén Rodríguez Fernández
	* '''Authors:''' ~~Ruben~~

	* '''Contact:''' runix404@gmail.com		* '''Contact:''' runix404@gmail.com

	* '''SVN Repositories:'''

	* '''Tags:''' ROS, navigation, turtlebot		* '''Tags:''' ROS, navigation, turtlebot

	* '''Technologies:''' kinect, pcl, openni, c++, cmake, ROS		* '''Technologies:''' kinect, pcl, openni, c++, cmake, ROS
			* '''Status:''' Ongoing

	* '''State:''' Ongoing

	~~----~~

			=ROS Fuerte Installation on Ubuntu 12.04=

	~~==ROS Fuerte Installation on Ubuntu 12.04==~~		==Repository configuration==
	===Repository configuration===

	First we need to add the repository		First we need to add the repository
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	<syntaxhighlight lang=Bash>wget http://packages.ros.org/ros.key -O - \| sudo apt-key add -</syntaxhighlight>		<syntaxhighlight lang=Bash>wget http://packages.ros.org/ros.key -O - \| sudo apt-key add -</syntaxhighlight>

	===Installation===		==Installation==

	We need to refresh the cache of your package manager		We need to refresh the cache of your package manager
	<syntaxhighlight lang=Bash>sudo apt-get update</syntaxhighlight>		<syntaxhighlight lang=Bash>sudo apt-get update</syntaxhighlight>
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	<syntaxhighlight lang=Bash>sudo apt-get install ros-fuerte-desktop-full</syntaxhighlight>		<syntaxhighlight lang=Bash>sudo apt-get install ros-fuerte-desktop-full</syntaxhighlight>

			==Enviroment Configuration==
	===Enviroment Configuration===

	Now we need to configure the enviroment variables		Now we need to configure the enviroment variables
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	<syntaxhighlight lang=Bash> . ~/.bashrc </syntaxhighlight>		<syntaxhighlight lang=Bash> . ~/.bashrc </syntaxhighlight>

	==Turtlebot installation==		=Turtlebot installation=

	The turtlebot installation is very simple, you only have to type in your terminal		The turtlebot installation is very simple, you only have to type in your terminal


	<syntaxhighlight lang=Bash> sudo apt-get install ros-fuerte-turtlebot* </syntaxhighlight>		<syntaxhighlight lang=Bash> sudo apt-get install ros-fuerte-turtlebot* </syntaxhighlight>

	==Navigation==		=Navigation=

	=== Feasible Solutions ===		==Feasible Solutions==

	The feasible solutions are Dynamic Window and Potencial Field :		The feasible solutions are Dynamic Window and Potencial Field :
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	and the goal has a attraction fiel		and the goal has a attraction fiel

	=== Dynamic window algorithm ===		==Dynamic window algorithm==


	1.- Calculate the desired velocities ( angular and linear ).		1.- Calculate the desired velocities ( angular and linear ).
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	2.- Select the allowable velocities ( angular and linear ) , this is compute the dynamic window, after this step we have a		2.- Select the allowable velocities ( angular and linear ) , this is compute the dynamic window, after this step we have a
	allowable velocities range ( [ min linear, max linear ], [ min angular, max angular ])		allowable velocities range ( [ min linear, max linear ], [ min angular, max angular ])


	3.- For each tuple [ v, w ] determine the closest obstacle		3.- For each tuple [ v, w ] determine the closest obstacle
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	END		END

	=== Experiments ===		==Experiments==

	In these experiments, the robot will try to reach the position (3,3) from the origin.		In these experiments, the robot will try to reach the position (3,3) from the origin.
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	A realistic scenario		A realistic scenario

	==Path Planning==		=Path Planning=

	=== Voronoi ===		==Voronoi==

	ongoing		ongoing

	=== Graph SLAM ===		==Graph SLAM==

	ongoing		ongoing

			=Convert sensor_msgs/Range to sensor_msgs/LaserScan message=
	==Convert sensor_msgs/Range to sensor_msgs/LaserScan message==

	To be able to use Ultrasonic data in Laserscan we need to convert the sensor_msgs/Range message to sensor_msgs/Laserscan. The messages		To be able to use Ultrasonic data in Laserscan we need to convert the sensor_msgs/Range message to sensor_msgs/Laserscan. The messages
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	The proccess is simple, in our case we need to convert 5 Ranges that are besides into a Laserscan message. So, the first part is to link the 5 messages and after convert into a Laserscan message. For achieve that, we use a cache and store the messages and when we have the 5 ranges create the Laserscan message, the proccess of caching the messages is simple too but we need to take care because the messages mightn't be sequencial.		The proccess is simple, in our case we need to convert 5 Ranges that are besides into a Laserscan message. So, the first part is to link the 5 messages and after convert into a Laserscan message. For achieve that, we use a cache and store the messages and when we have the 5 ranges create the Laserscan message, the proccess of caching the messages is simple too but we need to take care because the messages mightn't be sequencial.


	Create laserscan message process		Create laserscan message process
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	</syntaxhighlight>		</syntaxhighlight>

	==Stop and resume actual navigation in ROS navigation stack==		=Stop and resume actual navigation in ROS navigation stack=

	The main goal of this chapter is stop and resume the actual navigation, this can be useful when the robot need to wait for example to a person.		The main goal of this chapter is stop and resume the actual navigation, this can be useful when the robot need to wait for example to a person.
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	When you want to start the navigation stack, you must start the custom navigation stack that introduces this modifications, after you can change this value using the library libmb_sendskip.so that includes the class MB_robot::SendState that allows to change this parameter with the method sendState(bool state).		When you want to start the navigation stack, you must start the custom navigation stack that introduces this modifications, after you can change this value using the library libmb_sendskip.so that includes the class MB_robot::SendState that allows to change this parameter with the method sendState(bool state).

	==Goals correction for navigation stack==		=Goals correction for navigation stack=

	One of the problems with the robots is that normally they are smaller than a human, in some situations this isn't a problem, but if a human is follow the robot it can become in a problem. For example, the optimal path can go under a table or other object.		One of the problems with the robots is that normally they are smaller than a human, in some situations this isn't a problem, but if a human is follow the robot it can become in a problem. For example, the optimal path can go under a table or other object.

Rrodrf04: /* Convert sensor_msgs/Range to sensor_msgs/LaserScan message */

2014-04-03T09:55:48Z

Convert sensor_msgs/Range to sensor_msgs/LaserScan message

Show changes

Rrodrf04: /* Goals correction for navigation stack */

2014-03-01T18:43:40Z

Goals correction for navigation stack

← Older revision		Revision as of 18:43, 1 March 2014
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	''The maximum height in meters of a sensor reading considered valid. This is usually set to be slightly higher than the height of the robot. Setting this parameter to a value greater than the global max_obstacle_height parameter has no effect. Setting this parameter to a value less than the global max_obstacle_height will filter out points from this sensor above that height.''		''The maximum height in meters of a sensor reading considered valid. This is usually set to be slightly higher than the height of the robot. Setting this parameter to a value greater than the global max_obstacle_height parameter has no effect. Setting this parameter to a value less than the global max_obstacle_height will filter out points from this sensor above that height.''

	So, if we put the value of a human we solve this problem		So, if we put the value of a human we solve this problem.

Rrodrf04: /* Goals correction for navigation stack */

2014-03-01T18:42:30Z

Goals correction for navigation stack

← Older revision		Revision as of 18:42, 1 March 2014
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	If you take a look at the [http://wiki.ros.org/costmap_2d Costmap2D doc] you can see an attribute called max_obstacle_height, the doc description about this parameter is the following :		If you take a look at the [http://wiki.ros.org/costmap_2d Costmap2D doc] you can see an attribute called max_obstacle_height, the doc description about this parameter is the following :

	The maximum height in meters of a sensor reading considered valid. This is usually set to be slightly higher than the height of the robot. Setting this parameter to a value greater than the global max_obstacle_height parameter has no effect. Setting this parameter to a value less than the global max_obstacle_height will filter out points from this sensor above that height.		''The maximum height in meters of a sensor reading considered valid. This is usually set to be slightly higher than the height of the robot. Setting this parameter to a value greater than the global max_obstacle_height parameter has no effect. Setting this parameter to a value less than the global max_obstacle_height will filter out points from this sensor above that height.''

	So, if we put the value of a human we solve this problem		So, if we put the value of a human we solve this problem

Rrodrf04: /* Goals correction for navigation stack */

2014-03-01T18:42:06Z

Goals correction for navigation stack

← Older revision		Revision as of 18:42, 1 March 2014
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	In ROS, the navigation stack uses costmaps to find valid paths, this costmap is 2D so we only need to modify the property of the maximun obstacle height and put a value higher than the height of the robot.		In ROS, the navigation stack uses costmaps to find valid paths, this costmap is 2D so we only need to modify the property of the maximun obstacle height and put a value higher than the height of the robot.

	~~ONGOING~~		If you take a look at the [http://wiki.ros.org/costmap_2d Costmap2D doc] you can see an attribute called max_obstacle_height, the doc description about this parameter is the following :

			The maximum height in meters of a sensor reading considered valid. This is usually set to be slightly higher than the height of the robot. Setting this parameter to a value greater than the global max_obstacle_height parameter has no effect. Setting this parameter to a value less than the global max_obstacle_height will filter out points from this sensor above that height.

			So, if we put the value of a human we solve this problem

Rrodrf04: /* Goals correction for navigation stack */

2014-02-27T18:17:59Z

Goals correction for navigation stack

← Older revision		Revision as of 18:17, 27 February 2014
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	==Goals correction for navigation stack==		==Goals correction for navigation stack==

			One of the problems with the robots is that normally they are smaller than a human, in some situations this isn't a problem, but if a human is follow the robot it can become in a problem. For example, the optimal path can go under a table or other object.

			In ROS, the navigation stack uses costmaps to find valid paths, this costmap is 2D so we only need to modify the property of the maximun obstacle height and put a value higher than the height of the robot.

			ONGOING

Rrodrf04: /* Stop and resume actual navigation in ROS navigation stack */

2014-02-27T17:57:34Z

Stop and resume actual navigation in ROS navigation stack

← Older revision		Revision as of 17:57, 27 February 2014
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	==Stop and resume actual navigation in ROS navigation stack==		==Stop and resume actual navigation in ROS navigation stack==

			The main goal of this chapter is stop and resume the actual navigation, this can be useful when the robot need to wait for example to a person.

			For achieve that, we need to modify the move base package and introduce a few lines. This lines only check if the navigation is stopped and then don't sending the velocity command. And for modify the state of the navigation, we create a new topic to change this value.

			When you want to start the navigation stack, you must start the custom navigation stack that introduces this modifications, after you can change this value using the library libmb_sendskip.so that includes the class MB_robot::SendState that allows to change this parameter with the method sendState(bool state).

	==Goals correction for navigation stack==		==Goals correction for navigation stack==

Rrodrf04 at 23:22, 26 February 2014

2014-02-26T23:22:55Z

← Older revision		Revision as of 23:22, 26 February 2014
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	ongoing		ongoing


			==Convert sensor_msgs/Range to sensor_msgs/LaserScan message==


			==Stop and resume actual navigation in ROS navigation stack==


			==Goals correction for navigation stack==

Rrodrf04: /* Dynamic window algorithm */

2013-10-13T15:09:27Z

Dynamic window algorithm

← Older revision		Revision as of 15:09, 13 October 2013
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	BEGIN DWA(robotPose,robotGoal,robotModel)		BEGIN DWA(robotPose,robotGoal,robotModel)
	desiredV = calculateV(robotPose,robotGoal)		desiredV = calculateV(robotPose,robotGoal)
	laserscan = readScanner()		laserscan = readScanner()
	allowable_v = generateWindow(robotV, robotModel)		allowable_v = generateWindow(robotV, robotModel)
	allowable_w = generateWindow(robotW, robotModel)		allowable_w = generateWindow(robotW, robotModel)
	for each v in allowable_v		for each v in allowable_v
	for each w in allowable_w		for each w in allowable_w
	dist = find_dist(v,w,laserscan,robotModel)		dist = find_dist(v,w,laserscan,robotModel)
	breakDist = calculateBreakingDistance(v)		breakDist = calculateBreakingDistance(v)
	if (dist > breakDist) //can stop in time		if (dist > breakDist) //can stop in time
	heading = hDiff(robotPose,goalPose, v,w)		heading = hDiff(robotPose,goalPose, v,w)
	clearance = (dist-breakDist)/(dmax - breakDist)		clearance = (dist-breakDist)/(dmax - breakDist)
	cost = costFunction(heading,clearance, abs(desired_v - v))		cost = costFunction(heading,clearance, abs(desired_v - v))
	if (cost > optimal)		if (cost > optimal)
	best_v = v		best_v = v
	best_w = w		best_w = w
	optimal = cost		optimal = cost
	set robot trajectory to best_v, best_w		set robot trajectory to best_v, best_w
	END		END

	=== Experiments ===		=== Experiments ===