Robotics Class 2011/Assignment 1 - Revision history

Andrewtron3000 at 00:50, 8 September 2012

2012-09-08T00:50:58Z

← Older revision		Revision as of 00:50, 8 September 2012
Line 15:		Line 15:

	Once the make is done, you can start up the simulator by typing:		Once the make is done, you can start up the simulator by typing:

			'''roscore'''

	'''rosrun irobot_sensor_simulator sensor_simulator.py'''		'''rosrun irobot_sensor_simulator sensor_simulator.py'''

Andrewtron3000 at 00:43, 8 September 2012

2012-09-08T00:43:26Z

← Older revision		Revision as of 00:43, 8 September 2012
Line 8:		Line 8:

	'''cd''' to where you store your downloaded ROS packages		'''cd''' to where you store your downloaded ROS packages

	'''svn co http://hacdc-ros-pkg.googlecode.com/svn/trunk/irobot_sensor_simulator'''		'''svn co http://hacdc-ros-pkg.googlecode.com/svn/trunk/irobot_sensor_simulator'''

	'''rosmake irobot_sensor_simulator'''		'''rosmake irobot_sensor_simulator'''


	Once the make is done, you can start up the simulator by typing:		Once the make is done, you can start up the simulator by typing:

	'''rosrun irobot_sensor_simulator sensor_simulator.py'''		'''rosrun irobot_sensor_simulator sensor_simulator.py'''

Line 33:		Line 37:

	'''cd''' to where you store your downloaded ROS packages		'''cd''' to where you store your downloaded ROS packages

	'''svn co http://hacdc-ros-pkg.googlecode.com/svn/trunk/robot_emotions'''		'''svn co http://hacdc-ros-pkg.googlecode.com/svn/trunk/robot_emotions'''

	'''rosmake robot_emotions'''		'''rosmake robot_emotions'''

	You can explore the structure of the two above message types by using rosmsg show in the following way:		You can explore the structure of the two above message types by using rosmsg show in the following way:

	'''rosmsg show irobot_create_2_1/SensorPacket'''		'''rosmsg show irobot_create_2_1/SensorPacket'''

	'''rosmsg show robot_emotions/EmotionalState'''		'''rosmsg show robot_emotions/EmotionalState'''

ITechGeek at 20:44, 3 April 2012

2012-04-03T20:44:50Z

← Older revision		Revision as of 20:44, 3 April 2012
Line 1:		Line 1:
			[[Category:RobotClass]]

	''Note: This assignment assumes you have already installed ROS as well as the supplemental ROS package named [http://www.ros.org/wiki/irobot_create_2_1 irobot_create_2_1], an excellent ROS package that serves as a ROS driver for the iRobot Create robot series.''		''Note: This assignment assumes you have already installed ROS as well as the supplemental ROS package named [http://www.ros.org/wiki/irobot_create_2_1 irobot_create_2_1], an excellent ROS package that serves as a ROS driver for the iRobot Create robot series.''

Andrewtron3000 at 18:28, 2 July 2011

2011-07-02T18:28:56Z

← Older revision		Revision as of 18:28, 2 July 2011
Line 1:		Line 1:
	~~''Updated June 8: Added section in middle about use of the rosbag ROS package''~~

	''Note: This assignment assumes you have already installed ROS as well as the supplemental ROS package named [http://www.ros.org/wiki/irobot_create_2_1 irobot_create_2_1], an excellent ROS package that serves as a ROS driver for the iRobot Create robot series.''		''Note: This assignment assumes you have already installed ROS as well as the supplemental ROS package named [http://www.ros.org/wiki/irobot_create_2_1 irobot_create_2_1], an excellent ROS package that serves as a ROS driver for the iRobot Create robot series.''

Andrewtron3000 at 02:42, 21 June 2011

2011-06-21T02:42:00Z

← Older revision		Revision as of 02:42, 21 June 2011
Line 26:		Line 26:
	A powerful feature of ROS is the ability to create archives, or "bag files" that contain sensor data that can be played back. A bag file containing messages of type irobot_create_2_1/SensorPacket has been created and can be downloaded [http://hacdc-ros-pkg.googlecode.com/files/2011-06-08-20-32-02.bag here]. After downloading this bag file, it can be played back using the [http://www.ros.org/wiki/rosbag rosbag] package, which should be installed by default:		A powerful feature of ROS is the ability to create archives, or "bag files" that contain sensor data that can be played back. A bag file containing messages of type irobot_create_2_1/SensorPacket has been created and can be downloaded [http://hacdc-ros-pkg.googlecode.com/files/2011-06-08-20-32-02.bag here]. After downloading this bag file, it can be played back using the [http://www.ros.org/wiki/rosbag rosbag] package, which should be installed by default:

	'''rosbag play ~~SensorPacket_2011~~-06-08-20-32-02.bag'''		'''rosbag play 2011-06-08-20-32-02.bag'''

	This bag file was recorded with a full battery charge with the robot on the floor. At a point in the middle, the wall sensor was triggered with a piece of paper (the wall sensor signifies when the Roomba detects a wall to its right side which is useful for wall-following). Near the end of the bag file, the robot was lifted off the floor, causing the states of wheel drop and cliff sensors to change.		This bag file was recorded with a full battery charge with the robot on the floor. At a point in the middle, the wall sensor was triggered with a piece of paper (the wall sensor signifies when the Roomba detects a wall to its right side which is useful for wall-following). Near the end of the bag file, the robot was lifted off the floor, causing the states of wheel drop and cliff sensors to change.

Andrewtron3000 at 02:13, 21 June 2011

2011-06-21T02:13:39Z

← Older revision		Revision as of 02:13, 21 June 2011
Line 24:		Line 24:
	Note that these sliders allow you to configure the values of the sensors in an arbitrary fashion. However, of course, there is a nominal state of the robot defined by having a fully charged battery and being properly oriented with its base firmly on the floor.		Note that these sliders allow you to configure the values of the sensors in an arbitrary fashion. However, of course, there is a nominal state of the robot defined by having a fully charged battery and being properly oriented with its base firmly on the floor.

	A powerful feature of ROS is the ability to create archives, or "bag files" that contain sensor data that can be played back. A bag file containing messages of type irobot_create_2_1/SensorPacket has been created and can be downloaded ~~here: [~~[~~File~~:~~SensorPacket~~ 2011-06-08-20-32-02.bag]]. After downloading this bag file, it can be played back using the [http://www.ros.org/wiki/rosbag rosbag] package, which should be installed by default:		A powerful feature of ROS is the ability to create archives, or "bag files" that contain sensor data that can be played back. A bag file containing messages of type irobot_create_2_1/SensorPacket has been created and can be downloaded [http://hacdc-ros-pkg.googlecode.com/files/2011-06-08-20-32-02.bag here]. After downloading this bag file, it can be played back using the [http://www.ros.org/wiki/rosbag rosbag] package, which should be installed by default:

	'''rosbag play SensorPacket_2011-06-08-20-32-02.bag'''		'''rosbag play SensorPacket_2011-06-08-20-32-02.bag'''

Andrewtron3000 at 00:56, 9 June 2011

2011-06-09T00:56:20Z

← Older revision		Revision as of 00:56, 9 June 2011
Line 1:		Line 1:
			''Updated June 8: Added section in middle about use of the rosbag ROS package''

	''Note: This assignment assumes you have already installed ROS as well as the supplemental ROS package named [http://www.ros.org/wiki/irobot_create_2_1 irobot_create_2_1], an excellent ROS package that serves as a ROS driver for the iRobot Create robot series.''		''Note: This assignment assumes you have already installed ROS as well as the supplemental ROS package named [http://www.ros.org/wiki/irobot_create_2_1 irobot_create_2_1], an excellent ROS package that serves as a ROS driver for the iRobot Create robot series.''

Andrewtron3000 at 00:55, 9 June 2011

2011-06-09T00:55:44Z

← Older revision		Revision as of 00:55, 9 June 2011
Line 22:		Line 22:
	Note that these sliders allow you to configure the values of the sensors in an arbitrary fashion. However, of course, there is a nominal state of the robot defined by having a fully charged battery and being properly oriented with its base firmly on the floor.		Note that these sliders allow you to configure the values of the sensors in an arbitrary fashion. However, of course, there is a nominal state of the robot defined by having a fully charged battery and being properly oriented with its base firmly on the floor.

	A powerful feature of ROS is the ability to create archives, or "bag files" that contain sensor data that can be played back. A bag file containing messages of type irobot_create_2_1/SensorPacket has been created and can be downloaded here: [[File:SensorPacket 2011-06-08-20-32-02.bag]]. After downloading this bag file, it can be played back using the [http://www.ros.org/wiki/rosbag rosbag] package, which should be installed by default~~. Playing back the bag file is easy, one just types~~:		A powerful feature of ROS is the ability to create archives, or "bag files" that contain sensor data that can be played back. A bag file containing messages of type irobot_create_2_1/SensorPacket has been created and can be downloaded here: [[File:SensorPacket 2011-06-08-20-32-02.bag]]. After downloading this bag file, it can be played back using the [http://www.ros.org/wiki/rosbag rosbag] package, which should be installed by default:

	'''rosbag play SensorPacket_2011-06-08-20-32-02.bag'''		'''rosbag play SensorPacket_2011-06-08-20-32-02.bag'''

			This bag file was recorded with a full battery charge with the robot on the floor. At a point in the middle, the wall sensor was triggered with a piece of paper (the wall sensor signifies when the Roomba detects a wall to its right side which is useful for wall-following). Near the end of the bag file, the robot was lifted off the floor, causing the states of wheel drop and cliff sensors to change.

	In order to obtain the definition of the robot_emotions/EmotionalState message, you will need to check out the robot_emotions ROS package from the HacDC ROS repository:		In order to obtain the definition of the robot_emotions/EmotionalState message, you will need to check out the robot_emotions ROS package from the HacDC ROS repository:

Andrewtron3000 at 00:51, 9 June 2011

2011-06-09T00:51:37Z

← Older revision		Revision as of 00:51, 9 June 2011
Line 19:		Line 19:

	You will need to select irobot_sensor_simulator from the drop down box and you should then be presented with boxes and sliders that let you change the values of the sensor packet in real time.		You will need to select irobot_sensor_simulator from the drop down box and you should then be presented with boxes and sliders that let you change the values of the sensor packet in real time.

			Note that these sliders allow you to configure the values of the sensors in an arbitrary fashion. However, of course, there is a nominal state of the robot defined by having a fully charged battery and being properly oriented with its base firmly on the floor.

			A powerful feature of ROS is the ability to create archives, or "bag files" that contain sensor data that can be played back. A bag file containing messages of type irobot_create_2_1/SensorPacket has been created and can be downloaded here: [[File:SensorPacket 2011-06-08-20-32-02.bag]]. After downloading this bag file, it can be played back using the [http://www.ros.org/wiki/rosbag rosbag] package, which should be installed by default. Playing back the bag file is easy, one just types:

			'''rosbag play SensorPacket_2011-06-08-20-32-02.bag'''

	In order to obtain the definition of the robot_emotions/EmotionalState message, you will need to check out the robot_emotions ROS package from the HacDC ROS repository:		In order to obtain the definition of the robot_emotions/EmotionalState message, you will need to check out the robot_emotions ROS package from the HacDC ROS repository:

Andrewtron3000 at 00:05, 5 June 2011

2011-06-05T00:05:47Z

← Older revision		Revision as of 00:05, 5 June 2011
Line 31:		Line 31:

	Assignment Hint:		Assignment Hint:
	The robot_emotions ROS package ~~is actually~~ a complete (but very simple) solution to the homework. Feel free to investigate it if you need help. If you want to try running the emotion generator provided within the robot_emotions package, just type (after doing the rosmake robot_emotions above):		The robot_emotions ROS package contains, in addition to the definition of the robot_emotions/EmotionalState message, a complete (but very simple) solution to the homework. Feel free to investigate it if you need help. If you want to try running the emotion generator provided within the robot_emotions package, just type (after doing the rosmake robot_emotions above):

	'''rosrun robot_emotions emotion_generator.py'''		'''rosrun robot_emotions emotion_generator.py'''