Paper: 오프라인 맞춤형 광고 제공을 위한 오픈소스 로봇 플랫폼(Open-source robot platform providing offline personalized advertisements)

Journal of Convergence for Information Technology Vol. 10. No. 4, pp. 1-10, 2020

DOI : https://doi.org/10.22156/CS4SMB.2020.10.04.001

자세한 내용은 논문을 참고하시길 바랍니다.(Please refer to the paper for more information.)

Robot Appearance

Robot Specifications

Type	Description
Main Board	- Odroid H2
Micro controller	- Arduino Mega2580
Distance measurement sensors	- HC-SR04 Ultrasonic X5 - Infrared
Image sensor	- OcamS-1CGN-U
HRI media	- Speaker: Britz BA-BR9 Soundbar - Monitor: ECO GD220LED HDMI SLIM
Omni-wheel driving modules	- 12V DC Coreless motor X3 - DCMD-50-D Motor driver X3 - 48mm omni wheel X3
Communication	- WiFi module
Battery	- DC12V/2.6Ah(3.7V/2600mA3ea) X2 - DC12V/5.2Ah(3.7V/2600mA6ea)
Size	- Height x Width: 1.2m x 0.35m - Depth(Head x Body x Bottom diameter): 0.1m x 0.1m x 0.32m

How to Start main.py(Advertisement service)

• Requirements

  • Register an account with MS Azure cognitive services

  • Install MS Azure Face API

    $sudo pip install cognitive_face
    $sudo apt install imagemagick -y
      
      * Reference: https://blog.naver.com/ljy9378/221463790053
    

• Modify Key and Base_url in main.py

• Start main.py

  $python main.py
  

ROS Libarary install on Arduino

• rosserial install for Arduino

  • http://wiki.ros.org/rosserial_arduino/Tutorials/Arduino%20IDE%20Setup

  • Arduino IDE Setup

       $sudo apt-get install ros-kinetic-rosserial-arduino
       $sudo apt-get install ros-kinetic-rosserial
    

  • Installing from Source onto the ROS workstation

     $cd ~/catkin_ws/src
     $git clone https://github.com/ros-drivers/rosserial.git
     $cd ~/catkin_ws && catkin_make
    

  • Install ros_lib into the Arduino Environment

    $cd ~/Arduino/libraries
    $rm -rf ros_lib
    $rosrun rosserial_arduino make_libraries.py .
    

How to drive a robot

1. Omni_Robot.ino file upload on Arduino Mega

2. Start ROS Master

    $roscore
   

3. Connect Arduino Mega and Odroid H2(Master) to rosserial

    $rosrun rosserial_python serial_node.py _port:=/dev/serial_port_file(=ttyACM#,#:serial_port_number)
   

   • Example

     $rosrun rosserial_python serial_node.py _port:=/dev/ttyACM1
     

4. robot control ros command

   $rostopic pub -r 15 /byu_control geometry_msgs/Transform ‘[translation: [translation(x),translation(y), translation(z)], rotation: [rotation(x), rotation(y), rotation(z), w]’
   

5. Robot driving Example

   • Open three terminals and type the following commands in order for each terminal.

     $roscore
     $rosrun rosserial_python serial_node.py _port:=/dev/ttyACM1
     $rostopic pub -r 15 /byu_control geometry_msgs/Transform '{translation: [150, 150, 0], rotation: [0, 0, 0.5, 0]}'