Robot Operating System (ROS) +robot simulator (V-REP)

• Build 2D grid map with laserscan data avia rviz
• Control the mobile robot in the vrep simulation environment with keyboard
• Image Recognition and localization
• Visual Servoing (follow the yellow ball)
• roslaunch ros nodes

SETUP

ROS install and catkin

1. Install catkin: http://wiki.ros.org/catkin
2. Install ROS: http://wiki.ros.org/ROS/Installation
3. Configure and create catkin workspace

$ echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
$ source ~/.bashrc
$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws/
$ catkin_make
$ echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
$ source ~/.bashrc

4. Install the needed ros packages

#install hector slam
$ sudo apt install ros kinetic hector slam
#install key teleop
$ sudo apt install ros kinetic key teleop

Install V-REP

1. Dowload V-REP: http://www.coppeliarobotics.com/downloads.html

$ cp V-REP_PRO_EDU_V3_4_0_Linux.tar.gz ~
$ tar -zvxf ~/V-REP_PRO_EDU_V3_4_0_Linux.tar.gz
$ mkdir ~/V-REP
$ mv ~/V-REP_PRO_EDU_V3_4_0_Linux ~/V-REP

Load RosInterface and Some Packages

• Copy everything in this repo except README.md env.ttt hector.launch picture/ to ~/catkin_ws/src/

$ cd ~/catkin_ws/
$ catkin_make
$ source ~/.bashrc

• Copy libv_repExtRosInterface.so

$ cd catkin_ws/devel/lib
$ cp libv_repExtRosInterface.so  ~/V-REP

RUN

1. open one terminal and run $ roscore
2. open another terminal and run $ . ~/V-REP/vrep.sh

Please pay attention to these message and if you see

Plugin ’RosInterface’: loading...
Plugin ’RosInterface’: load succeeded.

3. open env.ttt in vrep's scene and press the start bottom
4. control the robot by keyboard

$ rosrun key_teleop key_teleop.py

5. launch the ros nodes for face detection/recognition and automatic ball tracking

$ roslaunch hector.launch

Credits

• Chien-Sheng (Jason) Wu & Zifan Wang
• This is the final project of the course ELEC4010K: Machine Learning and Information Processing for Robotic Perception by Prof. LIU Ming in Fall 2017 at HKUST