2023-12-05 Meeting #6

Report: https://www.notion.so/14-11-23-821eda2ccac54ed4bf1ff9614c1ad879

Github: https://github.com/arkadijss/Robot_DL

TODO:

1. ✅ Sagatavot skriptus, lai ierakstītu ROS bag (notestēt uz Gazebo)

2. ✅ Skripts ar kuru Gazeboo vidē var braukāt

3. Izpētīt kā taisa ROS packages + iziet cauri Evalda ROS vasaras skolas materialiem  🔴

4. Izpētīt kā strādā ALMotion, moveto topic iekš naoqi_driver https://github.com/ros-naoqi/naoqi_driver/blob/9a8b8517e9cbccbace8ddcfeab385c6ac2e3df8b/src/subscribers/moveto.cpp#L36

   ^ Noskaidrot vai relatīvi vai pēc kāda map? http://doc.aldebaran.com/2-5/naoqi/motion/control-walk-api.html#ALMotionProxy::moveTo__floatCR.floatCR.floatCR

5. Kā strādā parastais ROS /move_base

6. Gazeboo notestēt http://wiki.ros.org/gmapping un pārbaudīt ar bag recordings http://wiki.ros.org/move_base http://wiki.ros.org/gmapping

/naoqi_driver/laser

https://github.com/frietz58/pepper_virtual#gmapping

rosrun gmapping slam_gmapping base_frame:=base_footprint odom_frame:=odom map_frame:=map_map_update_interval:=1.0 scan:=/pepper/laser_2 _temporalUpdate:=

Vai un kā savienot /naoqi_driver/laser ar gmapping scan

Lokalizatora node

http://wiki.ros.org/amcl

Sending ROS Topics from Terminal https://www.perplexity.ai/search/33d2e063-c22b-44fd-b6bf-9b2865d2ca56?s=u

7. Atrast ROS libs vai Python libs in general to get odometry from Optical Flow

8. Atrast ORB Slam Ros packages un apskatīties kā var savienot http://wiki.ros.org/orb_slam2_ros

9. LIDAR + ORB

10. Depth camera RGBD

11. Dokumentēt /naoqi_driver/laser topics lai saprastu kā

12. Notestēt ar BAG citus slam veidus un sagatavoties testēšanai uz vietas ar citiem SLAM veidiem

13. Izdomāt Benchmark un metrikas, izmērīt precīzu telpas modeli, lai varam salīdzināt ar slam rezultātiem

Fonā roscore vienmēr pirmo palaiž

Ja nav relative packages

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import os
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import sys
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script_dir = os.path.dirname(os.path.abspath(__file__))
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sys.path.append(f'{script_dir}/../../')

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export PYTHONPATH=./:../:$PYTHONPATH

ROS Launch rinda ar parameters

Examples how to contol

VPNC 8 merkaki

roslaunch naoqi_driver naoqi_driver.launch nao_ip:=192.168.88.170 nao_port:=9503 network_interface:=wlp4s0 username:=nao password:=yhn10YHN! roscore_ip:=192.168.88.52

https://github.com/ros-naoqi/naoqi_driver

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rosnode info /naoqi_driver

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rostopic pub /joint_angles naoqi_bridge_msgs/JointAnglesWithSpeed "{header: {seq: 0, stamp: now, frame_id: ''}, joint_names: ['HeadYaw', 'HeadPitch'], joint_angles: [0.5,0.1], speed: 0.1, relative: 0}"

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/cmd_vel
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/diagnostics
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/joint_angles
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/joint_states
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/move_base_simple/goal
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/naoqi_driver/bumper
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/naoqi_driver/camera/bottom/camera_info
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/naoqi_driver/camera/bottom/image_raw
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/naoqi_driver/camera/depth/camera_info
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/naoqi_driver/camera/depth/image_raw
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/naoqi_driver/camera/front/camera_info
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/naoqi_driver/camera/front/image_raw
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/naoqi_driver/camera/image_raw
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/naoqi_driver/camera/stereo/camera_info
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/naoqi_driver/camera/stereo/image_raw
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/naoqi_driver/hand_touch
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/naoqi_driver/head_touch
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/naoqi_driver/imu/base
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/naoqi_driver/imu/torso
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/naoqi_driver/info
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/naoqi_driver/laser
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/naoqi_driver/odom
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/naoqi_driver/sonar/back
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/naoqi_driver/sonar/front
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/rosout
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/rosout_agg
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/speech
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/tf
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/your_depth_image_topic

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rostopic pub /cmd_vel geometry_msgs/Twist "linear:
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  x: 2.0
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  y: 0.0
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  z: 0.0
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angular:
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  x: 0.0
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  y: 0.0
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  z: 1.8"

UI util for robot steering from Tk GUI

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rosrun rqt_robot_steering rqt_robot_steering