PuddingRob_doc

some documents for PuddingRob

Hardware

• Base: i-Cart mini
• LiDAR: UTM-30LXEW, RPLIDAR S1(*2)
• Camera: RealSense Depth Camera D435, Ricoh THETA V
• RTK-GNSS: TBD

Software

• OS: Ubuntu20.04 LTS
• ROS: noetic
• SLAM: ScanMatching using 2d lidar
• PathTracking: /home/takahashi/catkin_ws/src/path_tracking
• 全方位画像publiser: /home/takahashi/catkin_ws/src/publish_image
• 点群地図publisher: /home/takahashi/catkin_ws/src/map_publisher
• 障害物検知: /home/takahashi/catkin_ws/src/detect_obstacle
• センサデータ記録: /home/takahashi/catkin_ws/src/data_textout

Using Package

• Motor Controller: YP-Spur, ypspur_ros
• UTM-30LX-EW: urg_node
• RealSense Depth Camera D435: SDK, realsense_ros
• 速度指示: teleop_twist_keyboard
• 座標変換: PuddingRobot_static_tf
• データ保存: rosbag2txt

Parameter file

icart-mini.param

rosbag

National Institute of Technology, Gunma College

• /home/takahashi/rosbag_data/nitgc_big210209.bag
• /home/takahashi/rosbag_data/nitgc_hall1_20211111.bag
• /home/takahashi/rosbag_data/nitgc_loop1_20211213.bag
• /home/takahashi/rosbag_data/nitgc_loop2_20211217.bag
• /home/takahashi/rosbag_data/nitgc_small.bag

Tsukuba Challenge

• /home/takahashi/rosbag_data/tsukuba1_20211107.bag
• /home/takahashi/rosbag_data/tsukuba2_20211107.bag
• /home/takahashi/rosbag_data/tsukuba3_20211107.bag

Point Cloud Map

National Institute of Technology, Gunma College

• /home/takahashi/PCMap/nitgc_hall.pcd
• /home/takahashi/PCMap/nitgc_small.pcd

Tsukuba Challenge

• /home/takahashi/PCMap/tsukuba2_20211107.pcd
• /home/takahashi/PCMap/tsukuba3_20211107.pcd

Sensor Datas (txt)

National Institute of Technology, Gunma College

• /home/takahashi/senser_data/nitgc_big_20210209
• /home/takahashi/senser_data/nitgc_hall1_20211111
• /home/takahashi/senser_data/nitgc_loop1_20211213
• /home/takahashi/senser_data/nitgc_loop2_20211217
• /home/takahashi/senser_data/nitgc_loop3_20211220
• /home/takahashi/senser_data/nitgc_small

Tsukuba Challenge

• /home/takahashi/senser_data/tsukuba2_20211107
• /home/takahashi/senser_data/tsukuba3_20211107