TKU RoboSot Project

The purpose of this project is implementing, researching, developing the Soccer Robot for FIRA RoboSot League.

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Requirement & Installation

System:

ROS Kinetic w/ Ubuntu 16.04 Install

Setup:

$ mkdir robosot_ws/src && cd robosot_ws
$ git clone https://github.com/tkuwheel/TKURoboSot.git src/

ROS Packages:

$ sudo apt-get install ros-kinetic-rosbridge-server ros-kinetic-web-video-server

Python packages:

$ cd src/
$ pip install -r requirements.txt

Installization and Requirments of FLIR Grasshopper3 Camera

see pointgrey_camera_driver/README.md

Compiling

$ catkin_make

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Startup

Environment Setting

# Get Camera's serial number
$ rosrun pointgrey_camera_driver list_cameras
# Setting Robot's number & Camera's Serail number
$ source Setting.sh

# Gazebo Simulator
$ roslaunch nubot_gazebo game_ready.launch

# Strategy w/ simulation mode
$ roslaunch strategy core.launch sim:=true

# GUI
# using plugin of dynamic_reconfigure
$ rqt

Troubleshooting

import rospkg library error:

ImportError: No module named 'rospkg'

Add the line to ~/.bashrc

export PYTHONPATH=$PYTHONPATH:/usr/lib/python2.7/dist-packages

pip3 syntax error

Error message:

Traceback (most recent call last):
  File "/usr/bin/pip3", line 9, in <module>
    from pip import main
  File "/usr/lib/python2.7/dist-packages/pip/__init__.py", line 16, in <module>
    from pip.vcs import git, mercurial, subversion, bazaar  # noqa
  File "/usr/lib/python2.7/dist-packages/pip/vcs/subversion.py", line 9, in <module>
    from pip.index import Link
  File "/usr/lib/python2.7/dist-packages/pip/index.py", line 30, in <module>
    from pip.wheel import Wheel, wheel_ext
  File "/usr/lib/python2.7/dist-packages/pip/wheel.py", line 6, in <module>
    import compileall
  File "/usr/lib/python3.5/compileall.py", line 20, in <module>
    from concurrent.futures import ProcessPoolExecutor
  File "/usr/lib/python2.7/dist-packages/concurrent/futures/__init__.py", line 8, in <module>
    from concurrent.futures._base import (FIRST_COMPLETED,
  File "/usr/lib/python2.7/dist-packages/concurrent/futures/_base.py", line 357
    raise type(self._exception), self._exception, self._traceback
                               ^
SyntaxError: invalid syntax

Edit /usr/lib/python2.7/dist-packages/concurrent/futures/_base.py

Replace raise type(self._exception), self._exception, self._traceback

with raise Exception(self._exception).with_traceback(self._traceback)

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About Us

Tamkang University Intelligent Automation And Robotics Center
Our Research