ROS.Taiwan 造訪社團 » sensor

這幾天在研究cartographer

前面裝了一堆相依套件終於成功安裝

但是試了官方範例還有其他人的bag檔，地圖都有明顯偏移

因為cartographer不斷更新，有些舊的參數已經變更名稱或者不能使用了；而且我找了舊的版本測試後也依然無法重合，目前找到一個和我一樣範例建圖失敗的教學，之後會依據說明重新測試（ https://blog.csdn.net/u012700322/article/details/52766287 ）

兩張圖分別是官方範例的b3-2016-04-05-14-14-00.bag

與user/ozgudum的sensors.bag

https://google-cartographer-ros.readthedocs.io/…/assets_wri…

https://github.com/googlecartographer/cartographer_ros/…/259

[LIVE STREAMING] Duckietown AI Driving Olympics
http://www.theconstructsim.com/ros-developers-live-class-d…/

The Duckietown project is devoted to teaching AI and machine learning with robots. Recently they launched the AI-Do Driving Olympics competition about self-driving cars.

In this series of three Live Classes we are going to see how to use simulations to program de Duckiebots solve the AI-Do competition and program simple self-driving cars.

▸ EP1 | Sep 11th, 2018
In this Live Class we'll see:
- How to set up a full Gazebo simulation of a Duckietown and Duckiebots with the proper ROS interface
- How to access the sensors and actuators of the Duckiebots
- How to create a simple navigation program for the robot

▸ EP 2 | Sep 18th, 2018
In this Live Class we'll see:
- How to use OpenAI to create a robot that follows the lines. We will use reinforcement Learning (DeepQ learning)

▸ EP 3 | Sep 25th, 2018
In this Live Class we'll see:
- How to manage traffic, avoiding other Duckiebots and handling intersections. We will use deep learning to train the robots.

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[Tutorials] OpenAI with Moving Cube Robot in Gazebo Step-by-Step
http://www.theconstructsim.com/openai-with-moving-cube-rob…/
Learn step-by-step how to create a moving cube and that it learns to move using OpenAI environment:

- Part 1: Creation of the URDF and Control Systems
- Part 2: Basics of Reinforcement learning and Connect to the various systems of the robot
- Part 3: Setting up all the basics needed for moving the cube and getting sensor data
- Part 4: The first script we need to do reinforcement learning with OpenAI
- Part 5: Create the Robot environment for OpenAI Gym for the moving cube

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[Resources about ROS-Industrial]

—> Video | How to Launch a ROS Industrial Robots Simulation
http://www.theconstructsim.com/ros-qa-117-how-to-launch-a-…/
In this video we will see how to launch a complex industrial environment with several robots in it, including ROS industrial robots and service robots. The simulation contains a UR5 industrial robot and a couple of mobile bases. Also, many types of sensors include, including lasers cameras, and even a conveyor belt simulation.

—> Video Tutorial | ROS Industrial 101 + programming UR5
https://youtu.be/J6Mu1P6FlxY
ROS-Industrial is a project which main goal is to bring ROS closer to the robotics industrial world. It is a HUGE project, composed of many packages and tools.

This course will introduce you to some basic concepts you need to know if you want to begin exploring all the ROS-Industrial capabilities. You are going to work with a Moto man Sia10f simulation and an UR5 simulation

—> Article | ROS MoveIt!: All You Need to Know To Start
http://www.theconstructsim.com/ros-movelt/

—> Webinar | Using MoveIt! with ROS Industrial
https://youtu.be/cPJsNqZdm6E
In this webinar we will teach you how to use MoveIt! for controlling an industrial robot with ROS.

—> LIVE Class | How to use ROS with industrial robots
https://youtu.be/BCDFvMw6N-8
In this LIVE Class we are going to learn how to control industrial robots using ROS. For that, you are going to program with me a UR5 arm robot with MoveIt! in order to grasp pieces from one side and put them in another.

—> LIVE Class | Simulate an Industrial Environment
http://www.theconstructsim.com/ros-developers-live-class-2…/
In this Live Class we are going to execute ARIAC simulation made by the OSRF. We are going to learn how to manage that simulation in order to make the robots perform useful tasks in the environment. We will indicate where Gazebo plugins were applied, how SDF was used to create the environment, were ROS control was applied, where ROS navigation was applied, etc. We will see how to create a simple Python program that allows us to make the robots do useful things.

—> Podacast | Using ROS for Industrial Projects With Carlos Rosales (CTO of Beta Robots)
http://www.theconstructsim.com/rdp-006-using-ros-industria…/
Let's see how Beta Robots apply ROS into real life industrial projects.

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完成大人交代的任務(整理書房)，建個3D map紀錄一下！

https://www.youtube.com/watch?v=_wMmGCZlx5E

Making robots with ROS : differential drive, Stereo 3D SLAM

1.Sensors:
1.1 optical encoder
1.2 Bosch IMU : bno055 usb stick
1.3 YDLidar X4
1.4 ZED stereo camera

2.Motor Drive:
2.1 Arduino Uno
2.2 Pololu Dual VNH5019 for Arduino(12A) or L298

3. ROS Package:
3.1 ros_arduino_bridge （Differential wheeled robot motor driver）
3.2 ydlidar （lidar driver）
3.3 bno055_usb_stick （IMU driver）
3.4 robot_localization （EKF Algorithm）
3.5 rtabmap_ros （SLAM Algorithm）
3.6 zed-ros-wrapper （ ZED stereo camera driver）

4. reference:
4.1 HyphaROS Workshop https://github.com/Hypha-ROS/hypharos_minibot
4.2 https://github.com/josephchen5/robot_sensors/wiki

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[ROS Developers LIVE-Classes List]

Upcoming ROS LIVE streams:
http://www.theconstructsim.com/ros-developers-live-class-d…/
12 Jun | How to create an OpenAI environment for your robotic problem
19 Jun | Using Tensorflow with ROS

Previous ROS Developers LIVE-Class:
- #20: Simulate an Industrial Environment
http://www.theconstructsim.com/ros-developers-live-class-2…/

- #19: Let’s Use Gazebo Plugins
http://www.theconstructsim.com/ros-developers-live-class-1…/

- #18 : Let’s Simulate a World in Gazebo Simulator http://www.theconstructsim.com/ros-developers-live-class-1…/

- #17: Let's Simulate a Robotic Arm With Gazebo
https://youtu.be/DJwnZSaHy7s

- #16: How to build a Gazebo robot simulation
https://youtu.be/q01dDxeHTMs

- #15: Using ROS TF to transform sensor data
https://youtu.be/dBATvRhvGRI

- #14: How To Control Robot Joints With ROS
https://youtu.be/M4KF2c3OMSI

- #13: ROS Navigation Stack How To
https://youtu.be/fTizQneURWo

- #12: How to use ROS with industrial robots (ROS Industrial)
https://youtu.be/BCDFvMw6N-8

- #11: Visually Programming ROS State Machines (Round #3)
https://youtu.be/ZLv5iCSnR5c

- #10: Visually Programming ROS State Machines (Round #2)
https://youtu.be/lKkP5qhFbHQ

- #9: Visually Programming ROS State Machines (Round #1)
https://youtu.be/jrV5jRs1SJc

- #8: How to recognize faces with the ROS face recognition package
https://youtu.be/yENvskEKhJk

- #7: OpenAI+ROS Robot: Practical section
https://youtu.be/FYdS3-c2lKw

- #6: How to use OpenAI to train your robot
https://youtu.be/L7mlz7I8RbI

- #5: Simulating a Drone from Scratch
https://youtu.be/l6hVfVK_YWw

- #4: Carrot Navigation using AR Tags
https://youtu.be/QkUZWRe5f4I

- #3: rotating laser mounted on a vehicle
https://youtu.be/W2VNNMiiN-Q

- #2: Merging Odometry and IMU data for robot localization
https://youtu.be/nQZeAafDEJE

- #1: Building 3D pointclouds from rotating lasers
https://youtu.be/5CvqJ5EFbE4

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[ROS resources about Gazebo]

-->Article | How to create a ROS Sensor Plugin for Gazebo
http://www.theconstructsim.com/create-a-ros-sensor-plugin-…/
There are magnificent tutorials about how to create plugins for Gazebo in the GazeboSim webpage. There are even some tutorials about how to create plugins for Gazebo + ROS. Those tutorials show that there are several types of plugins (world, model, sensor, system, visual), and indicate how to create a plugin for a world type plugin.

Recently I need to create a plugin for a light detector. Reading the tutorials, I missed a concrete example about how to create a sensor plugin. Hence, I had to investigate a little bit about it. The result is the content of this post.

-->Article | How to Build a Differential Drive Simulation
http://www.theconstructsim.com/how-to-build-a-differential…/
In this post you are going to learn:
- How to build a simple differential drive simulation in Gazebo simulator.
- How to add a plugin to the model to allow ROS commands to the robot
-How to move the robot through ROS topics

-->Article | All about Gazebo 9 with ROS
http://www.theconstructsim.com/all-about-gazebo-9-with-ros/
See how to install Gazebo 9 simulator to work with your ROS system. We are going to see how to replace the default version of Gazebo that comes with the installation of ROS and if previously existing simulations work (or not) with this new version of the simulator.

--> ROS Project | Create a Hopper Robot in Gazebo Step-by-Step
http://www.theconstructsim.com/ros-projects-create-hopper-…/

--> ROS LIVE-Classes about Gazebo
http://www.theconstructsim.com/ros-developers-live-class-d…/
#17 - Let's Simulate a Robotic Arm With Gazebo: learn how to build a Gazebo simulation model of a ROBOTIC ARM using URDF
# 18 - Let's Simulate a World in Gazebo: create a world in the Gazebo simulator for the differential drive manipulator
#19 - Let's Use Gazebo Plugins: learn how to create a Gazebo plugin for a robot simulated world
#20 - Simulate an Industrial Environment: we are going to execute ARIAC simulation made by the OSRF

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[Resources about Using OpenAI with ROS]
-> Article | Using OpenAI with ROS
http://www.theconstructsim.com/using-openai-ros/
OpenAI has released the Gym, a toolkit for developing and comparing reinforcement learning (RL) algorithms. That toolkit is a huge opportunity for speeding up the progress in the creation of better reinforcement algorithms, since it provides an easy way of comparing them, on the same conditions, independently of where the algorithm is executed.

The toolkit is mainly aimed at the creation of RL algorithms for a general abstract agent. Here, we are interested in applying it to the control of robots (of course!). Specifically, we are interested in ROS based robots. That is why, in this post we describe how to apply the OpenAI Gym to the control of a drone that runs with ROS.

-> Machine Learning with OpenAI Gym on ROS Development Studio
http://www.theconstructsim.com/machine-learning-openai-gym…/
You can now train your robot to navigate through an environment filled with obstacles just based on the sensor inputs, with the help of OpenAI Gym. In April 2016, OpenAI introduced “Gym”, a platform for developing and comparing reinforcement learning algorithms. Reinforcement learning is an area of machine learning that allows an intelligent agent (for example, robot) to learn the best behaviors in an environment by trial-and-error. The agent takes actions in an environment so as to maximize its rewards. We have deployed the gym_gazebo package from Erle Robotics S.L. in the ROS Development Studio. It enables the users to test their reinforcement learning for their robots in Gazebo.

-> Video Tutorials
* [ROS tutorial] OpenAI Gym For ROS based Robots 101 Course: https://youtu.be/o9FpZ1QQqcc
* How to start with OpenAI + ROS fast: http://www.theconstructsim.com/start-openai-ros-fast/
* LIVE-Class: How to use OpenAI to train your robot (Part1): https://youtu.be/L7mlz7I8RbI
* LIVE-Class: How to use OpenAI to train your robot (Part2): https://youtu.be/FYdS3-c2lKw

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https://www.youtube.com/watch?v=8ksO0yNtpgo&t=17s

Making robots with ROS : differential drive, SLAM gmapping

1.Sensors:
1.1 optical encoder
1.2 Bosch IMU : bno055 usb stick
1.3 YDLidar X4
2.Motor Drive:
2.1 Arduino Uno
2.2 Pololu Dual VNH5019 for Arduino(12A) or L298
3. ROS Package:
3.1 ros_arduino_bridge(Differential robot motor driver)
3.2 rplidar_ros （lidar driver）
3.3 bno055_usb_stick（IMU driver）
3.4 robot_localization （EKF Algorithm）
3.5 slam_gmapping （2-d occupancy grid map Algorithm)

4. reference:
4.1 HyphaROS Workshop https://github.com/Hypha-ROS/hypharos_minibot
4.2 https://github.com/josephchen5/robot_sensors/wiki

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ROS-I 最新公布的ROS-compatible 3D sensors清單
https://rosindustrial.org/3d-camera-survey/

我自己有用過:
kinect v1 & v2
Astra & Astra Pro
Realsense R200/SR300/D435
ASUS Xtion/XtionPro
ZED
還有自幹的PS4 Eyes
自己做硬體同步的兩顆PS3 Eye
以及只有軟體同步的兩顆UVC camera

就我自己的使用心得
我偏好 XtionPro, Astra, D435
可惜前面兩個買不太到了
後面那個缺貨XD

Reference: https://discourse.ros.org/t/updated-3d-camera-survey-o…/4418