Difference between revisions of "RoCKIn2014"

From robotica.unileon.es
Jump to: navigation, search
(→‎Hardware Preparation)
m
 
(107 intermediate revisions by 2 users not shown)
Line 1: Line 1:
−
==RoCKIn Camp 2014==
+
=RoCKIn Project Description=
−
 
 
  
 
* '''Project Name:'''  
 
* '''Project Name:'''  
 
[[Image:LogoRockin.png|130px]]
 
[[Image:LogoRockin.png|130px]]
 +
 +
* '''Next Challenge'''
 +
[http://rockinrobotchallenge.eu/rockin2014.php RoCKIn@home Toulouse]
  
 
* '''Official Web Page'''
 
* '''Official Web Page'''
 
  [http://rockinrobotchallenge.eu/home.php RoCKIn@home]  
 
  [http://rockinrobotchallenge.eu/home.php RoCKIn@home]  
  
 +
=Watermelon Project: Team Description=
  
 
* '''Project Codename'''  
 
* '''Project Codename'''  
−
  Watermelon :D
+
  Watermelon Project
  
 +
* '''Advisor:'''
 +
[http://robotica.unileon.es/~vmo Vicente Matellán Olivera]
  
 
* '''Staff:'''  
 
* '''Staff:'''  
−
  Technical software: Fernando Casado
+
  Technical- Manipulation/Grasping, Simulation: Fernando Casado
−
  Technical software: Víctor Rodríguez  
+
  Technical- Navigation: Rubén Rodríguez
−
  Technical software: Francisco Lera
+
  Technical- SW Integration, Middleware, Perception: Francisco Martín Rico
−
  Technical hardware: Carlos Rodríguez
+
Technical- SW Integration, HRI Dialogue, Team Leader: Francisco Lera
 +
  Technical- Hardware: Carlos Rodríguez
 +
 
 +
* '''Former Staff:'''
 +
 
 +
Technical-Perception: Víctor Rodríguez  
  
 
* '''Other Information:'''  
 
* '''Other Information:'''  
−
  * '''Academic Year:''' 2013-2014
+
  '''Academic Year:''' 2013-2014
−
  * '''SVN Repositories:''' soon ...  
+
  '''SVN Repositories:''' soon...  
−
  * '''Tags:''' Augmented Reality, Elderly people, Tele-Assistence
+
  '''Tags:''' Augmented Reality, Elderly people, Remote-Assistance
−
  * '''Technology:''' ROS, PCL, c++, svn, OpenCV, cmake, OpenGL, Qt, Aruco,  
+
  '''Technology:''' ROS, PCL, c++, svn, OpenCV, cmake, OpenGL, Qt, Aruco,  
−
  * '''State:''' Development
+
  '''State:''' Development
  
−
== Project Summary ==
+
=Project Summary=
−
This challenge focuses on domestic service robots. The project aims robots with enhanced networking and cognitive abilities. They will be able to perform socially useful tasks such as supporting the impaired and the elderly (one of the main goal of our group).
 
  
−
In the initial stages of the competition individual robots will begin by overcoming basic individual tasks, such as navigation through the rooms of a house, manipulating objects or recognizing faces, and then coordinate to handle house-keeping tasks simultaneously, some of them in natural interaction with humans.  
+
This challenge focuses on domestic service robots. The project aims to create robots with enhanced networking and cognitive abilities. They should be able to perform useful tasks such as helping the impaired and the elderly (one of the main goals of our group).  
  
−
==Robot==
+
In the initial stages of the competition, individual robots will begin by overcoming basic individual tasks, such as navigating through the rooms of a house, manipulating objects or recognizing faces, and then coordinating to handle house-keeping tasks simultaneously, some of them under natural interaction with humans.  
−
We want to take part in RoCKIn with the platform developed during the las two years in the Catedra Telefónica-ule.
 
−
[[Image:RobotWatermelon0.JPG|thumb|130px|MYRABot robot.]]
 
  
−
===Robot Hardware===
+
=RoCKIn Evolution=
  
−
# iRobot Roomba 520
+
[[RoCKIn2014Camp | Rome - RoCKIn Camp 2014]]
−
# Dinamixel Arm (5x12a)
 
−
# wood frame (yes, it is made with wood)
 
−
# Notebook (Atom processor) (display+computer are separeted)
 
−
# Kinect
 
−
# Arduino Mega
 
  
−
=== Robot Software ===
+
=Robot=
−
# ROS (robot control)
 
−
# MYRA (C/C++, ArUCo, Qt, openCV)
 
  
 +
We want to take part in RoCKIn with the platform developed during the last two years in the Catedra Telefónica-ULE.
  
−
==Proposal==
+
[[Image:RoCKIn_robot.JPG|thumb|230px|MYRABot robot.]]
  
−
We want to deploy in this robot the minimal functional abilities to be part of RoCKIn 2014. 
+
==Robot Hardware==
  
−
* Mavigation
+
{| style="color:black; background-color:#ffffcc;" cellpadding="8" cellspacing="0" border="1"
−
* Mapping
+
| Component
−
* Person recognition
+
| Model
−
* Person tracking
+
| Description
−
* Object recognition
+
|- style="color:black; background-color:#ffffff;" cellpadding="8" cellspacing="0" border="1"
−
* Object manipulation
+
| Frame
−
* Speech recognition
+
| n/a
−
* Gesture recognition
+
| Poplar laminated wood
−
* Cognition
+
|- style="color:black; background-color:#ffffff;" cellpadding="8" cellspacing="0" border="1"
 +
| Computer
 +
| LG X110 -
 +
| Notebooks. Atom processors
 +
|- style="color:black; background-color:#ffffff;" cellpadding="8" cellspacing="0" border="1"
 +
| Controllers
 +
| (a)Arduino 2560, (b)USB2serial
 +
| (a)arm, range sensors, (b)roomba
 +
|- style="color:black; background-color:#ffffff;" cellpadding="8" cellspacing="0" border="1"
 +
| Base
 +
| Roomba 520
 +
| Vacuum cleaner
 +
|- style="color:black; background-color:#ffffff;" cellpadding="8" cellspacing="0" border="1"
 +
| Ultrasound Sensors
 +
| Maxsensor mb1220 (x5)
 +
| Range: 7 meters
 +
|- style="color:black; background-color:#ffffff;" cellpadding="8" cellspacing="0" border="1"
 +
| RGB sensor
 +
| Logitech
 +
| Webcam
 +
|- style="color:black; background-color:#ffffff;" cellpadding="8" cellspacing="0" border="1"
 +
| RGBD sensors
 +
| Kinect, Asus Xtion
 +
|
 +
|- style="color:black; background-color:#ffffff;" cellpadding="8" cellspacing="0" border="1"
 +
| Battery
 +
| standard
 +
| 12V, 7A
 +
|- style="color:black; background-color:#ffffff;" cellpadding="8" cellspacing="0" border="1"
 +
| Arm (Actuator)
 +
| Dinamixel AX12 servos (x5)
 +
| Joints and servomotors from Bioloid
 +
|}
  
 +
==Robot Software==
  
−
=== Phase I: Initial Setup  ===
+
{| style="color:black; background-color:#ffffcc;" cellpadding="8" cellspacing="0" border="1"
 +
| Option
 +
| Control Software
 +
| Version
 +
| Description
 +
|- style="color:black; background-color:#ffffff;" cellpadding="8" cellspacing="0" border="1"
 +
| Robot
 +
| ROS
 +
| Fuerte
 +
|
 +
|- style="color:black; background-color:#ffffff;" cellpadding="8" cellspacing="0" border="1"
 +
| Simulator
 +
| Gazebo and ROS
 +
| Gazebo 1.19, ROS - HYDRO
 +
|
 +
|}
  
−
==== Hardware Preparation  ====
+
=Videos TDP2014=
  
−
Get power from main roomba brush ( arm )
+
==MoveIt!==
  
−
[[Image:BrushModification.jpg|400px]]
+
Test 1:  
  
 +
<videoflash>Y9dv5mEiNK0</videoflash>
  
−
----
+
<videoflash>ODUJIuZn5ew</videoflash>
  
−
Emergency Stop Button
+
==Arm Control==
  
−
[[Image:PictureChainButtonStop.jpg|600px]]
+
Arm control with Xbox Joystick
  
−
----
+
<videoflash>00As38JDjLA</videoflash>
  
−
Start Button
+
=Acknowledgments=
  
−
ToDo
+
'''Organizations:'''
  
−
====Software Preparation====
+
[http://www.fablableon.org/ Fab-Lab León]
  
−
As we are using ROS, we think that we can find each ability ready to deploy in the robot. In this way we are going to search and test each module to evaluate if we are going to be able to deploy in our robot.
+
[http://catedratelefonica.unileon.es/ Cátedra Telefónica-Unileon]
  
−
; Software Restriction : ROS Fuerte
+
'''People:'''
  
−
; Core drivers  : [[HowToInstallRoombaPackage | How to install roomba package]]
+
Alvaro Botas (MYRA software)
  
−
=== Software Search  ===
+
Joaquín Olmo (First design of MYRABot prototype)
−
Here we are going to show the repositories and blogs that we are using to get the abilities working in ROS. Some of them are ol
 
  
−
* <u> Navigation </u>
+
Julián Orfo (Navigation in simulator environment)
−
*<pre style="color: red">Mapping</pre>
 
−
* Person recognition
 
−
* Person tracking
 
−
* <u>Object recognition </u>
 
−
*<pre style="color: red">Object manipulation</pre>
 
−
* Speech recognition
 
−
* Gesture recognition
 
−
* <u>Cognition </u>
 
  
−
===== Environment setup =====
+
=Sponsorship=
  
−
===== Ros: Debugging Techniques =====
+
[[Image:Sponsor1.png|830px]]
  
−
=== Phase II: Integration and Architecture  ===
+
If you want to contribute financially to the project, please contact us.
  
 +
=Wishlist=
  
−
=== Non-Critical (but to-do) ===
+
<span style="color:#009000"> &#9745; </span> Roomba battery
  
−
# Android/iOS Teleoperation
+
<span style="color:#ff0000"> &#9744; </span> Arduino Mega (x2)
−
# Desktop Qt interface
 
−
# Create  robot model for Gazebo
 
−
# Create robot model for rviz (the same as Gazebo?)
 
  
 +
<span style="color:#ff0000"> &#9744; </span> Roomba base (520, 560)
  
−
==Wishlist==
+
<span style="color:#ff0000"> &#9744; </span> Ultrabook
−
* Computer i7 processor, 8GB RAM, Nvidia (1-2 GB)
 
−
* ASUS Xtion Pro Live Color RGB Sensor
 

Latest revision as of 11:33, 14 February 2015

RoCKIn Project Description

  • Project Name:

LogoRockin.png

  • Next Challenge
RoCKIn@home Toulouse
  • Official Web Page
RoCKIn@home

Watermelon Project: Team Description

  • Project Codename 
Watermelon Project
  • Advisor: 
Vicente Matellán Olivera
  • Staff: 
Technical- Manipulation/Grasping, Simulation: Fernando Casado
Technical- Navigation: Rubén Rodríguez
Technical- SW Integration, Middleware, Perception: Francisco Martín Rico
Technical- SW Integration, HRI Dialogue, Team Leader: Francisco Lera
Technical- Hardware: Carlos Rodríguez
  • Former Staff: 
Technical-Perception: Víctor Rodríguez
  • Other Information: 
Academic Year: 2013-2014
SVN Repositories: soon... 
Tags: Augmented Reality, Elderly people, Remote-Assistance
Technology: ROS, PCL, c++, svn, OpenCV, cmake, OpenGL, Qt, Aruco, 
State: Development

Project Summary

This challenge focuses on domestic service robots. The project aims to create robots with enhanced networking and cognitive abilities. They should be able to perform useful tasks such as helping the impaired and the elderly (one of the main goals of our group).

In the initial stages of the competition, individual robots will begin by overcoming basic individual tasks, such as navigating through the rooms of a house, manipulating objects or recognizing faces, and then coordinating to handle house-keeping tasks simultaneously, some of them under natural interaction with humans.

RoCKIn Evolution

Rome - RoCKIn Camp 2014

Robot

We want to take part in RoCKIn with the platform developed during the last two years in the Catedra Telefónica-ULE.

MYRABot robot.

Robot Hardware

Component Model Description
Frame n/a Poplar laminated wood
Computer LG X110 - Notebooks. Atom processors
Controllers (a)Arduino 2560, (b)USB2serial (a)arm, range sensors, (b)roomba
Base Roomba 520 Vacuum cleaner
Ultrasound Sensors Maxsensor mb1220 (x5) Range: 7 meters
RGB sensor Logitech Webcam
RGBD sensors Kinect, Asus Xtion
Battery standard 12V, 7A
Arm (Actuator) Dinamixel AX12 servos (x5) Joints and servomotors from Bioloid

Robot Software

Option Control Software Version Description
Robot ROS Fuerte
Simulator Gazebo and ROS Gazebo 1.19, ROS - HYDRO

Videos TDP2014

MoveIt!

Test 1:

<videoflash>Y9dv5mEiNK0</videoflash>

<videoflash>ODUJIuZn5ew</videoflash>

Arm Control

Arm control with Xbox Joystick

<videoflash>00As38JDjLA</videoflash>

Acknowledgments

Organizations:

Fab-Lab León

Cátedra Telefónica-Unileon

People:

Alvaro Botas (MYRA software)

Joaquín Olmo (First design of MYRABot prototype)

Julián Orfo (Navigation in simulator environment)

Sponsorship

Sponsor1.png

If you want to contribute financially to the project, please contact us.

Wishlist

☑ Roomba battery

☐ Arduino Mega (x2)

☐ Roomba base (520, 560)

☐ Ultrabook

Retrieved from "https://robotica.unileon.es/index.php?title=RoCKIn2014&oldid=4631"