Team: ByU

• Project: Open-source robot platform providing personalized advertisements
• Paper: http://koreascience.or.kr/article/JAKO202013363977204.page
• Paper git link: https://github.com/ADRobot2019/ADRobot2019
• 논문에 옴니휠 제어 코드에 오류가 있습니다. geometry_msgs/Transform을 geometry_msgs/Twist로 변경하였습니다.

ROBOT H/W Architecture

ROBOT Design

Used Embedded board

• Odroid H2
• Arduino Mega2560

ROS Libarary install on Arduino

• rosserial install for Arduino

  • http://wiki.ros.org/rosserial_arduino/Tutorials/Arduino%20IDE%20Setup

  • Arduino IDE Setup

       $sudo apt-get install ros-kinetic-rosserial-arduino
       $sudo apt-get install ros-kinetic-rosserial
    

  • Installing from Source onto the ROS workstation

     $cd ~/catkin_ws/src
     $git clone https://github.com/ros-drivers/rosserial.git
     $cd ~/catkin_ws && catkin_make
    

  • Install ros_lib into the Arduino Environment

    $cd ~/Arduino/libraries
    $rm -rf ros_lib
    $rosrun rosserial_arduino make_libraries.py .
    

• Start ROS Master & rosserial

     $roscore
     $rosrun rosserial_python serial_node.py _port:=/dev/ttyACM0
  

How to control Robot

1. byu_robot_mode_add.ino file upload on Arduino Mega

2. connect Arduino Mega and odroid H2(Master) to rosserial

   $rosrun rosserial_python serial_node.py _port:=/dev/serial_port_file(=ttyACM#,#:serial_port_number)
   

3. robot control ros command

   $rostopic pub -r 15 /byu_control geometry_msgs/Twist 
     "linear:
      x: 0.0
      y: 0.0
      z: 0.0
      angular:
      x: 0.0
      y: 0.0
      z: 0.0"
   

4. Example

   $roscore
   $rosrun rosserial_python serial_node.py _port:=/dev/ttyACM0
   $rostopic pub -r 15 /byu_control geometry_msgs/Twist 
     "linear:
      x: 1.0
      y: 1.0
      z: 0.0
      angular:
      x: 0.0
      y: 0.0
      z: 0.5"