vector_ros_driver

This package contains ROS python wrappers to exploit the features of Anki Vector SDK interfacing the physical robot. In nilseuropa/vector_description you can find a detailed URDF model prepared for Gazebo simulation.

Setup

Install required dependencies

apt-get install the following packages:

• python3-yaml
• python3-pip
• python3-dev
• python3-numpy
• python-catkin-tools
• python3-catkin-pkg-modules
• libopencv-dev

sudo apt install python3-yaml python3-pip python3-dev python3-numpy python-catkin-tools python3-catkin-pkg-modules libopencv-dev

pip3 install these:

• opencv-python
• rospkg
• catkin_pkg

SDK Setup

Get the Vector SDK if you don't have it already with python3 -m pip install --user anki_vector. Run the sdk_auto_config.sh script to save the Anki SDK certification file to your disk. ( Make a backup of those files, as Anki cloud services might go down soon. )

Build cv_bridge for python 3.6

mkdir rospy3_cv_bridge_ws
cd /rospy3_cv_bridge_ws
catkin init
catkin config -DPYTHON_EXECUTABLE=/usr/bin/python3.6 -DPYTHON_INCLUDE_DIR=/usr/include/python3.6m -DPYTHON_LIBRARY=/usr/lib/x86_64-linux-gnu/libpython3.6m.so
catkin config --install
git clone https://github.com/ros-perception/vision_opencv.git src/vision_opencv
cd src/vision_opencv/
git checkout melodic
cd ../../
catkin build cv_bridge

Best to add source ~/rospy3_cv_bridge_ws/install/setup.bash --extend to your .bashrc

Build this package

Clone this repository into your regular ROS catkin workspace and run roslaunch vector_ros_driver driver.launch

It shall produce this graph:

Topics

• /vector/camera (sensor_msgs/Image)

• /vector/left_wheel_ticks (std_msgs/Int32)

• /vector/right_wheel_ticks (std_msgs/Int32)

• /vector/left_wheel_desired_rate (std_msgs/Int32)

• /vector/right_wheel_desired_rate (std_msgs/Int32)

• /vector/gyro (geometry_msgs/Vector3)

• /vector/accelero (geometry_msgs/Vector3)

• /vector/laser (sensor_msgs/Range)

Services

• /vector/battery_state

• /vector/set_head_angle

• /vector/set_lift_height

• /vector/anim_list

• /vector/say_text

Actions

• /vector/play_animation

FAQ

Can’t find robot name

Your Vector robot name looks like “Vector-E5S6”. Find your robot name by placing Vector on the charger and double-clicking Vector’s backpack button.

Can’t find serial number

Your Vector’s serial number looks like “00e20142”. Find your robot serial number on the underside of Vector. Or, find the serial number from Vector’s debug screen: double-click his backpack, move his arms up and down, then look for “ESN” on his screen.

Can’t find Vector’s IP address

Your Vector IP address looks like “192.168.40.134”. Find the IP address from Vector’s debug screen: double-click his backpack, move his arms up and down, then look for “IP” on his screen.

Credits

Most content of this repository has been originally created by betab0t.