In this project, I will show you how to use UP-board for controlling a mobile autonomous robot via ROS (Robotic Operating system). For more details about ROS, check the ROS wiki page.
This autonomous robot has lots of features (mapping, motion planing, obstacle avoidance, navigation, etc.) and I am unable to show you all of them altogether. Hopefully, in the future, I will show you some of them. Now, lets play with keyboard teleoperation (moving robot using keyboard via ROS).What do you need?
- Pioneer3AT Mobile Robot
- UP-board with ROS installation
- A notebook with ROS installation
- WiFi router for communication between UP-board and notebook
- Some skills about Linux ssh command and basic ROS knowledge
- Install Ubuntu 14.04 on the board (you may use boot-able flash drive)
- Install ROS (Indigo) by the instruction provided in ROS wiki
- Clone the robot work-space from my GitHub
- Carefully read the INSTALL file (if you need any prerequisites, install them first)
- Build the work-space by '
catkin_make' command (if there are any issues, let me know)
Note: You need to install ROS (the appropriate version for your notebook).
- Now, connect your UP-board with your own WiFi network
- Connect your notebook on the same network
- Connect the robot to UP-board via USB cable
- Power on the robot
- Open a terminal on your notebook and connect up board via ssh command
- Export the ROS MASTER URI by using this command
- Launch the robot driver and keyboard controller by this command
- Now control your robot using the keyboard (follow the key mapping on screen)
If you want to visualize your robot on Rviz in real time, then follow those steps:
- On your note book, open Rviz
- From Rviz, open the