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Project Goldorak, CVRA's small robot for Eurobot 2016, running ROS
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cvra_msgs
goldorak_base Lower fishing z axis using torque control May 27, 2016
goldorak_bringup
goldorak_description
goldorak_navigation
goldorak_sensors
goldorak_simulation Load Eurobot table map in simulation Feb 24, 2016
goldorak_strategy Add back intermediate setpoint when fishing to move smoother May 28, 2016
motor-control-firmware @ d57e1f9 Add motor board firmware submodule May 22, 2016
proximity-beacon-firmware @ 4b2c428 Start tuning navigation on real robot May 16, 2016
uavcan @ 818c4ea
.gitignore Add missing Cmakelists Dec 29, 2015
.gitmodules
Readme.md Add match checklist May 27, 2016
Setup.md
build.sh Move diffbase controller and odometry to base package May 22, 2016
clean.sh Fix cleaning script May 22, 2016
eurobot.xcf
fabfile.py Script setpoint sending for PID tuning May 22, 2016
run_tests.sh
setpoint.py

Readme.md

Project Goldorak

Match checklist

  1. Boot system (switch on 1)
  2. SSH into the robot and start a tmux.
  3. roslaunch goldorak_bringup goldorak.launch
  4. Wait for odom received
  5. Plug starter
  6. Take reference by pushing on fishing module's Y and Z axis until you hear a click.
  7. Open a new tmux pane (Ctrl-B then C).
  8. Edit smach_demo.py to set team color.
  9. roslaunch goldorak_bringup strategy.launch.
  10. Wait for waiting for starter and then arm emergency stop.
  11. Detach tmux (Ctrl-B then D), then exit SSH.
  12. Pray and pull the starter when told to.

Setup

On your computer

You'll need to create a virtual CAN interface to simulate the CAN interface on the robot

fab vcan:'vcan0'

On the robot / the BBB

Append the following to /etc/modules:

can
can_raw
vcan

Append the following to /etc/network/interfaces:

allow-hotplug can1

auto can1
iface can1 can static
	pre-up /usr/bin/env config-pin overlay cape-universaln
	pre-up /usr/bin/env config-pin P9.24 can
	pre-up /usr/bin/env config-pin P9.26 can

    bitrate 1000000
    samplepoint 0.875

Build & Run

Build the nodes and run with simulated motors

./build.sh
roslaunch goldorak_bringup goldorak.launch simulated_motors:=true

Then, you can give target points to the robot via the monitoring interface

roslaunch goldorak_bringup monitor.launch

Simulation (Gazebo)

The robot can also be simulated using Gazebo. In this case, the differential base control and odometry are handled by ROS Control. Higher level nodes will run as on the robot.

Run the simulation

roslaunch goldorak_simulation goldorak.launch

Simulation (ROS only)

The robot can also be simulated partially without Gazebo. Motor boards are simulated by a basic python script. Higher level nodes will run as on the robot.

Run the simulation

roslaunch goldorak_bringup goldorak.launch simulated_motors:=true

Dependencies

For dependencies, you should look at the setup guidelines in Setup.md.

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