ehonnef/roba

Project for robotics course featuring Asus-xtion node, arduino with SRF08 sonar and MinImu-9 sensors nodes.

ROBa

Project for the robotics course. This project aims to implement base nodes (listeners/publishers) for arduino mega sensors (SRF08 sonars and MinIMU-9) and the Asus xtionPro live camera. The nodes will run on Odroid XU4 with Ubuntu 18.04 and ROS melodic.
There are standalone libraries for the SRF08 sonar and MinIMU-9 sensors (LSM6 and LIS3MDL). You just need to download and include in your main file.

Image processing

Using Asus xtionPRO live for the RGB image and depth image.
If you are running on windows remove the path from openni2.initialize("/usr/lib/") ---> openni2.initialize().

Libraries needed

To run the code you need to install de requirements.txt file using pip install -r requirements.txt.
Of course you need to install an external library openni2 that you can find here.
Let me know if I missed some requirements.

Arduino schematics

P.S: IC = MinIMU-9.

ROS

Ok. This one will be tricky:

• First make sure to install the ROS-melodic-desktop (version that I'm using on Ubuntu 18.04), you can find a tutorial here.
• Install the python3 libraries from the previous topic.
  • Try to run one of the examples from ./image_processing, if you run you're good to go on the python side (I hope).
• Install the openni2_launch package.
• Install the Arduino IDE and necessary libraries, tutorial.
  • If you want to know more about Arduino + ROS workpace
• Make both python node executable with chmod +x node.py, usually they are located in workspace/src/SOME_PACKAGE/scripts.
• It'll be nice to have tmux, screen or something similar.

Now to start the workspace navigate to ./ros_workspace and run catkin_make and then source devel/setup.bash.

Upload the Arduino code catkin_make arduino_sensors_firmware_arduino_sensors-upload.

Start the ROS-nodes:

• Start roscore.
• Camera topics roslaunch openni2_launch openni2.launch.
• Arduino node rosrun rosserial_python serial_node.py /dev/ttyACM0.
• Camera nodes rosrun camera_rgb_img node.py and rosrun camera_rgb_img node.py.