iscumd / ohm2017

An obstacle course navigating robot

Ohm2017

An obstacle course navigating robot

Usage

This package targets ROS Kinetic.

Requires iscumd/SharedROSNodes V1.0.0.

CAMERA CONFIGURATION and SETUP

CAMERA MUST BE RECAILBRATED IF POSITION AND ORIENTATION CHANGE

CAMERA MUST START BEFORE THE MAPPING NODE TO INSURE ADJUSTMENT

1. Place wooden calibration stick named "Ohm Calibration Stick" so that the wooden protrusion that is on the short end of stick is flush with the front of robot and inline with the centerline of the robot.

2. Place cardboard tri-fold flat with the non-white side flat on the ground and infront of calibration stick so that the center line of tri-fold is inline with the robot's centerline.

3. From the center of lidar measure the X and Y distances in meters (round to the nearest cm) of 2 diagonal corners i.e O and M Note. Left of the centerline is negative from the perspective of the robot

      L---------------M
      |               |
      |   tri-fold    |   Height is always perpendicular to the robot
      |               |   Width is always parallel to the robot
      O---------------N
              |
              | <-- wooden stick
              |
           -------
            robot
   

4. Open Cheese and change resolution to 640x480, take photo.

5. Open image in GIMP and get the pixel coodinates of each corner.

6. In vision_test.launch under "Pixel coordinates go here" plug the pixel coordinates into their respective locations

      ex. param name="white_line_detection_topLeftXpix" value="247" 
   

7. Calculate ratio. ratio = Width/Height ( if using the 48x36in tri-fold ratio is 1.3333) plug the value into the vision_test.launch under "ratio".

8. Now run white_line_detection.cpp using ros, and save the image in the window labeled "WARPED" (there is a save icon)

9. Open the image labeled "WARPED" and get the new pixel coordinates of the diagonal corners that you found their respective XY distances.

10. To calculate the constants, use either the source "calibration_formula.cpp", or the executable "calibrate" located in Ohm2017/Camera_Calibration, and plug in values for the new pixel coordinates from step 9 and their respective XY distances from step 3.

11. To enable video recording or drawing overlays, in vision_test.launch under "Enable recording" and "Enable drawing" respectively, change false to true. Recording records the raw footage.

ohm2017's Issues

ROS Joystick Node

ROS Roboteq Node

Lidar Node

Make a new GPS mount

GPS is a differential gps

Global Mapping Node

Path Planning Node

Look into A*, HPA* search and Jump point search. approximate grid size (M x N) matrix is about 3000x2000

ROS Manual Control Logic Node

ROS Lidar Logic Node

Place lidar points into Map

Where in the map is the object located etc...

Obstacle Avoidance and Avoidance Override Node

Convert last years code into ROS compatible code

Add ventilation to laptop box

Prepare for PDR

Create ppt slides documenting what is our plan, and what we have accomplished so far ,are we on schedule etc...

Add payload mount

GPS Node

Replace batteries

Get XY of Obstacles

Replace flimsy side panels

Polar to Cartesian Node

Wheel Encoder Node

Make a new lidar mount

Camera Node

PID Node

Convert last years code into ROS compatible code

ROS Auto Control Logic Node

Replace motors

Odometry Node

Add new wireless e-stop

Make a new camera mount

White Line Detection Node