Kev Tiv Thaiv Chav: Lub Platform rau Kawm ROS Kev Nkag Mus Nrog Roomba, Raspberry Pi thiab RPLIDAR: 9 Kauj Ruam (nrog Duab)

2024 Tus sau: John Day | [email protected]. Kawg hloov kho: 2024-01-30 09:29

Qhov no yog dab tsi?

"Roomblock" yog lub platform neeg hlau suav nrog Roomba, Raspberry Pi 2, lub laser sensor (RPLIDAR) thiab lub roj teeb txawb. Lub thav duab thav duab tuaj yeem tsim los ntawm 3D tshuab luam ntawv. ROS kev qhia ua haujlwm pab ua daim ntawv qhia chav thiab siv nws kom mus txog rau lub hom phiaj ntawm tus kheej.

Leej twg xav tau qhov no?

Txhua tus neeg uas xav kawm paub thev naus laus zis thev naus laus zis ntawm kev siv neeg hlau, kev kos duab, thiab kev tsav tsheb tsis siv neeg. Tus neeg hlau no tuaj yeem tsim tau yooj yim thiab raug nqi qis dua lwm lub platform lag luam. ROS yog tam sim no de facto tus txheej txheem software rau kev tshawb fawb neeg hlau. Cov yeeb yaj kiab no qhia txog dab tsi ua tau nrog ROS kev qhia ua haujlwm.

Kauj Ruam 1: Yam Koj Xav Tau

USB-serial cable

Yog tias koj tsis muaj USB-serial cable rau Roomba, koj tuaj yeem tsim nws yooj yim nrog cov khoom no.

• FTDI: TTL-232R-5V
• Akiduki Denshi: TTL-232R-5V

Daim ntawv ceeb toom tias Roomba's inerface yog TTL (5V).

Txuas

Koj xav tau mini-DIN 8 tus pin txuas rau Roomba's serial interface. Qhov tseeb Roomba tus txuas yog mini-DIN 7 tus pin, txawm li cas los xij, nws yooj yim dua yuav 8 tus pin dua li 7 tus pin txuas.

• Digikey: mini-DIN 8pin txuas
• Kyoritsu: mini-DIN 8pin txuas

Soldering

Muab cov kab txuas txuas rau 8 tus pin txuas. Txheeb xyuas qhov kev sib txuas los ntawm daim duab txuas, thiab daim ntawv ntawm Roomba qhib kev qhia tshwj xeeb.

Roomba Qhib Kev Sib Tham Tshwj Xeeb

Thov nco ntsoov, nws muaj kev nyab xeeb txuas Vcc (Liab) thiab RTS (Ntsuab) kom zam dhau qhov teeb meem kho vajtse.

Kauj Ruam 4: Teeb Raspberry Pi Lub Koob Yees Duab Module (Yeem Xaiv)

Yog tias koj muaj lub koob yees duab Raspberry Pi, koj tuaj yeem xa nws mus rau Raspberry Pi. Qhov no yog nyob ntawm yeem rau kev kawm kev taw qhia, txawm li cas los xij, nws yog kev lom zem kom tau pom los ntawm cov neeg hlau pom kev.

Ib feem ntawm lub koob yees duab kuj tseem suav nrog cov ntaub ntawv thav duab ntawm Thingiverse. Lub koob yees duab module tuaj yeem kho nrog plaub M2 ntsia hlau.

Kauj Ruam 5: Teeb PC Hauv Zos

Nruab Ubuntu

Nruab Ubuntu 16.04 desktop tom qab nplooj ntawv raug cai

Ubuntu official nplooj ntawv

Nruab ROS

Plase sab laj ROS official nplooj ntawv. Nruab Kinetic desktop tag nrho pob.

ROS Kinetic installation cov lus qhia

Nruab Roomblock ROS pob

Cov pob rau chav thaiv twb tau tso tawm rau hauv Kinetic. Koj tuaj yeem nruab lawv los ntawm apt hais kom ua.

$ sudo apt nruab ros-kinetic-roomblock

Qhov ntawd yog nws.

Yog tias koj xav hloov kho thiab tsim lub pob los ntawm cov cai, koj tuaj yeem tau txais lawv los ntawm GitHub.

GitHub - chav thaiv

Thov ua raws cov lus qhia hauv README.md.

Yog tias koj muaj teeb meem lossis lus nug txog software, thov ua qhov teeb meem ntawm GitHub Teeb Meem kom peb tuaj yeem taug qab cov teeb meem tau zoo. Thov zam kom tshaj tawm lawv ntawm Cov Lus Qhia.

Kauj Ruam 6: Teeb Raspberry Pi

Nruab Ubuntu

Nruab Ubuntu 16.04 rau Raspberry Pi ua raws cov lus qhia teeb tsa:

Ubuntu Wiki: RaspberryPi

Nruab ROS

Nruab ROS Kinetic raws li cov lus qhia teeb tsa:

Ubuntu nruab ntawm ROS Kinetic

Nruab Roomblock ROS pob

Koj yuav tsum teeb tsa pob thaiv chav los ntawm qhov chaws. Qhov chaws ntawm pob yog nyob ntawm GitHub.

GitHub - chav thaiv

Thov ua raws cov lus qhia hauv README.md.

Yog tias koj muaj teeb meem lossis lus nug txog software, thov ua qhov teeb meem ntawm GitHub Teeb Meem, yog li peb tuaj yeem taug qab cov teeb meem tau zoo. Thov zam kom tshaj tawm lawv ntawm Cov Lus Qhia.

Raspberry Pi lub koob yees duab module (Tsis teb los tau)

Yog tias koj muaj lub koob yees duab Rasberry Pi, koj yuav tsum teeb tsa libraspberrypi-dev. Thov sab laj README.md hauv Github.

Kauj Ruam 7: Kev siv xov tooj

Nqa cov hauv paus txheej txheem ntawm Raspberry Pi

Ua ntej tshaj plaws, koj yuav tsum nqa cov sysem. Ntawm Raspberry Pi lub davhlau ya nyob twg, tso tawm cov txheej txheem yooj yim xws li:

$ export ROS_IP = IP_ADDRESS_OF_RASPBERRY_PI

$ roslaunch roomblock_bringup roomblock.launch

RPLIDAR pib tig, thiab tam sim no koj tuaj yeem txuas rau tus neeg hlau ROS tus tswv los ntawm koj lub PC hauv zos.

Tele-ua haujlwm los ntawm PC hauv zos

Koj tuaj yeem siv lub ncoo ncoo los ua haujlwm neeg hlau. Yog tias koj muaj kev xyiv fab ntawm XBox, koj tuaj yeem siv cov ntawv tso tawm no. Txwv tsis pub, koj yuav tsum tau hloov kho cov ntawv tso tawm kom haum rau koj lub ncoo ncoo. Plase tham nrog ROS wiki nplooj ntawv kom ntxaws.

ROS wiki - teleop_twist_joy

$ xa tawm ROS_MASTER_URI = https:// IP_ADDRESS_OF_RASPBERRY_PI: 11311 $ roslaunch roomblock_bringup teleop.launch

Tam sim no koj tuaj yeem tswj tau Roomba nrog joystick.

Hloov chaw, koj tuaj yeem siv cov keyboard.

$ xa tawm ROS_MASTER_URI = https:// IP_ADDRESS_OF_RASPBERRY_PI: 11311 $ rosrun teleop_twist_keyboard teleop_twist_keyboard.py

Thov sab laj ROS wiki nplooj ntawv kom ntxaws.

ROS wiki - teleop_twist_keyboard

Kauj ruam 8: Tua tawm Mapping Software

Nqa cov software qhia ntawm lub PC hauv zos

Nqa cov software software los tsim daim duab qhia chaw nyob ib puag ncig tus neeg hlau.

$ export ROS_MASTER_URI = https:// IP_ADDRESS_OF_RASPBERRY_PI: 11311 $ export ROS_IP = IP_ADDRESS_OF_LOCAL_PC $ roslaunch roomblock_mapping gmapping.launch

Tam sim no koj tuaj yeem pom Rviz (software pom kev). Ua haujlwm neeg hlau nyob ib ncig ntawm chav los tsim daim duab qhia chaw ntawm chav.

Koj tuaj yeem sab laj nrog ROS wiki nplooj ntawv rau kev teeb tsa kab ke.

• ROS wiki - gmapping
• ROS wiki - map_server

Kauj Ruam 9: Tua tawm Txoj Kev Taw Qhia Tus Kheej

Nqa cov ntawv qhia kev tswj hwm tus kheej

Tam sim no koj tuaj yeem pib ua haujlwm tswj kev tswj hwm ntawm lub PC hauv zos xws li:

$ export ROS_MASTER_URI = https:// IP_ADDRESS_OF_RASPBERRY_PI: 11311 $ export ROS_IP = IP_ADDRESS_OF_LOCAL_PC $ roslaunch rolomblock_navigation amcl.launch

Koj tuaj yeem siv Rviz los qhia lub hom phiaj. Tus neeg hlau yuav tsum mus rau lub hom phiaj ntawm tus kheej.

Thov sab laj ROS wiki nplooj ntawv rau kev tswj hwm tus kheej.

• ROS wiki - navigation
• ROS wiki - amcl

Muaj kev lom zem

Yog tias koj muaj lus nug lossis teeb meem txog ROS, thov nrog ROS wiki tham. Peb tsis tuaj yeem teb cov lus nug dav dav ntawm ROS.

ROS wiki - Txhawb nqa

Yog tias koj muaj teeb meem lossis lus nug txog Roomblock software, thov ua qhov teeb meem ntawm GitHub Teeb Meem kom peb tuaj yeem taug qab cov teeb meem tau zoo. Thov zam kev tshaj tawm lawv ntawm Cov Lus Qhia.