![]() Here you can find the code of that node and here instructions about how to install it. Second, you need to install the Sphero ROS node in that computer. ![]() Here, instructions about how to install ROS in Linux. First of all, you will need a Linux computer with ROS installed.For that, you will need several steps: Install the Sphero ROS node in your local computer ![]() Once you have finished your program in the simulation environment, it is time to test it with the real robot. Second step, transfer your program to the real robot There are many ways you can configure the screen to provide more focus to what interests you the most. After a while, you can configure the Rviz to show the information you desire. A new tab should appear, showing how the Rviz is loading. Then press the Screen red icon located at the bottom-left of the screen (named the graphical tools). You can also launch there Rviz, and then watch the robot, the frames and any other additional information you may want of the robot. Now you must be able to move the robot around the maze by pressing some keys of the keyboard (instructions provided on the screen). Try typing the following: $ roslaunch sphero_gazebo keyboard_teleop.launch For instance, you can use the shell to launch the keyboard controller and move the Sphero around. On the shell, you can issue commands in the computer that contains the simulation of the robot. The simulation shows the Sphero robot as well as the environment of the maze. On the right hand side, you can see the simulation and beneath it, the shell. You can browse there all the packages related to the simulation or any other packages that you may create. It is the development environment for developing the code. This means that, once you press that button, the code will be executed and start controlling the Sphero simulated robot for a few time-steps (remember to have the simulation activated ( Play button of the simulation activated) to see the robot move). You must know that the code included in the notebook is directly executable by selecting the cell of the code (do a single click on it) and pressing the small play button at the top of the notebook. Remember that any change you do to the notebook will be saved in a simulation in your private area of RDS, so you can come back later and launch it with your modifications. So it is up to you to modify it, add new information or else. As you can see it is an iPython notebook and follows its standard. This notebook contains just some examples, but it can be completed and/or modified at your will. On the left hand side you have a notebook containing information about the robot and how to program it with ROS. In either case, after a few seconds the simulation will appear together with the development environment for creating the programs for Sphero and testing them. The main.launch selected by default is the correct one, so just press Run. A new screen will appear giving you details about the simulation and asking you which launch file you want to launch. ![]() If you select the Public simulations, you will quickly identify the Sphero simulation. To use the Sphero simulation on RDS go to and sign in.The Sphero simulation must appear on the screen. To use the Sphero simulation in the Robot Ignite Academy, go to the ROS in 5 days course and select the Sphero Course Project.What follows applies to both the development of Sphero control programs using the Robot Ignite Academy, or the development using the ROS Development Studio. They have to learn ROS enough to make the Sphero get out of the maze by using odometry and IMU. We created the simulation to teach ROS to the students of the Robot Ignite Academy. The simulation provides the same interface as the ROS module created by Melonee, so you can test your programs on the environment, and once working properly, transfer it to the real robot. The ROS Development Studio (RDS) provides off-the-shelf a simulation of Sphero within a maze environment. First step, develop your Sphero program in the simulation environment Now, you can use the ROS Development Studio to create ROS control programs for that robot, testing as you go by using the integrated simulation. In case that you have one, you must know that it is possible to control it using ROS, by installing in your computer the Sphero ROS packages developed by Melonee Wise and connecting to the robot using the bluetooth of the computer. It is a small robot with the shape of a ball. ![]()
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