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| en:ros:simulations:uku [2020/03/23 08:59] – tomykalm | en:ros:simulations:uku [Unknown date] (current) – external edit (Unknown date) 127.0.0.1 | ||
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| - | ====== | + | ====== |
| - | UKU is a mobile robot-sized | + | Outdoor mobile robot UKU is a mid-sized |
| - | {{: | ||
| - | {{: | ||
| - | ===== LIDAR ===== | + | {{ : |
| - | The UKU's main sensor is lidar. Lidars are very good sensors to sense the surroundings, | + | ===== Sensors ===== |
| - | {{: | + | **LiDAR** |
| - | {{: | + | The UKU's main sensor is Lidar. Lidars are very good sensors to sense the surroundings, |
| - | Lidar allows laser beams to obtain a point cloud from the surroundings, | + | ^ Velodyne VLP-16 Specification |
| + | ^ Spec. ^ Value || | ||
| + | | **Channels** | ||
| + | | **Measurement Range** | ||
| + | | **Range Accuracy** | ||
| + | | **Field of View (Vertical)** | ||
| + | | **Angular Resolution (Vertical)** | ||
| + | | **Angular Resolution (Horizontal/ | ||
| + | | **Rotation Rate** | ||
| - | {{: | + | Lidar allows laser beams to obtain a point cloud from the surroundings, |
| - | The //Velodyne VLP-16// | + | {{ : |
| + | |||
| + | The //Velodyne VLP-16// | ||
| //RPlidar A1// costs around 100 € and //RPlidar A3// 600 €. Lidars differ mainly in the resolution and measurement frequency. | //RPlidar A1// costs around 100 € and //RPlidar A3// 600 €. Lidars differ mainly in the resolution and measurement frequency. | ||
| + | {{ : | ||
| - | {{: | + | //RPlidar// has a 360 ° field of view but has only one channel. Therefore, the output of the Lidar is two-dimensional. Such Lidars are a good choice for navigating indoors-where walls and other vertical objects are obstructed. |
| - | {{: | + | |
| - | //RPlidar// has a 360 ° field of view but has only one channel. Therefore, the output of the lidar is two-dimensional. Such lidars are a good choice for navigating indoors where walls and other vertical objects are obstructed. | + | {{ : |
| - | {{: | + | In the Gazebo simulator, it is also possible to simulate Lidars. Many Lidar manufacturers have published Lidar models (URDF) on the Internet, which makes adding a Lidar to their robot model much easier. The official //Velodyne VLP-16// URDF model is also used in the UKU robot simulation. |
| - | //In the Gazebo// simulator it is also possible to simulate lidars. Many lidar manufacturers have published lidar models (URDF) on the Internet, which makes adding a lidar to their robot model much easier. The official //Velodyne VLP-16// URDF model is also used in the UKU robot simulation. | + | ===== UKU Simulation ===== |
| - | ===== UKU simulation ===== | + | The necessary models and libraries for experimenting with the robot have been created to simulate the robot in Gazebo. For convenience, |
| - | + | ||
| - | The necessary models and libraries for experimenting with the robot have been created to simulate the robot in //Gazebos//. For convenience, | + | |
| Let's start by cloning the repository: | Let's start by cloning the repository: | ||
| $ sudo apt install git | $ sudo apt install git | ||
| - | $ git clone http:// | + | $ git clone http:// |
| + | | ||
| Install the required libraries and compile: | Install the required libraries and compile: | ||
| Line 45: | Line 51: | ||
| $ rosdep install --from-paths src --ignore-src -r -y | $ rosdep install --from-paths src --ignore-src -r -y | ||
| $ catkin_make | $ catkin_make | ||
| - | $ source devel / setup.bash | + | $ source devel / setup.bash |
| So that we don't have to get a working environment every time we open a new terminal window, we can add the following line to the //.bashrc// file: | So that we don't have to get a working environment every time we open a new terminal window, we can add the following line to the //.bashrc// file: | ||
| Line 57: | Line 63: | ||
| $ roslaunch uku_vehicle_gazebo uku_vehicle.launch | $ roslaunch uku_vehicle_gazebo uku_vehicle.launch | ||
| - | The //Gazebo// simulator and //Rviz// should now open. The UKU robot should be visible in the //Gazebo// virtual world. | + | The Gazebo simulator and //Rviz// should now open. The UKU robot should be visible in the Gazebo virtual world. Using the // |
| - | Using the //Gazebo// interface, we can add objects to the virtual world. | + | {{ : |
| - | {{: | + | A robot remote control unit is also included with the workspace. Launch Remote Control Node in another window: |
| - | + | ||
| - | A robot remote control unit is also included with the workspace. | + | |
| - | + | ||
| - | Launch Remote Control Node in another window: | + | |
| $ rosrun ackermann_drive_teleop keyop.py | $ rosrun ackermann_drive_teleop keyop.py | ||
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| Now we should be able to control the robot with the keyboard. | Now we should be able to control the robot with the keyboard. | ||
| - | {{: | + | {{ : |
| - | The startup file also launched the //Rviz// visualization tool. When we open the //Rviz// window, we see a 3D lidar image and a robot model. | + | The startup file also launched the //Rviz// visualization tool. When we open the //Rviz// window, we see a 3D Lidar image and a robot model. |
| + | |||
| + | {{ : | ||
| - | {{: | ||
