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Melodic migration

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iri_ana_how_to

Description

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The Ana robot is based on a Pioneer 3 AT platform which has been updated with:

  • A fanless mini PC i7 computer

  • Custom 250Wh motor battery from AMOPACK with monitoring electronics.

  • Custom 500Wh payload battery from AMOPACK with monitoring electronics.

The expected autonomy of the robot is around 5 hours, and it can operate on its own with the embedded computer.

In addition to the standard Pioneer sensors (sonars and bumpers) the Ana robot provides:

All theses sensors are mainly used for navigation and mapping purposes.

The upper part of the robot provides additional sensors and computers to detect and track people in urban environments. These sensors include:

and are placed on top of a custom pan&tilt platform.

A fully featured gazebo model is also provided to test the robot in simulation.

Procedures

Here are the basic precedures to use the robot. Please follow them carefully whenever you need to use the robot.

  • Startup, operation and shutdown: pending to generate pdf

  • Battery management: pending fix pdf link

Installation

From an existing workspace (tutorial)

Merge your workspace with the following rosinstall files following the steps in this tutorial.

Install dependencies

roscd
cd ../src
rosdep install -r -i --from-paths .

##TODO check if these are defined: #sudo apt-get install ros-kinetic-velodyne-description ros-kinetic-velodyne-gazebo-plugins ros-kinetic-hector-gazebo-plugins

Compile the workspace

roscd
cd ..
catkin_make

Usage

Simulation

roslaunch iri_ana_gazebo sim_sample.launch

Default Gazebo world is empty.world.

You can choose a different world specifying the world_name argument with world_name:=brl.

See our available worlds in iri_gazebo_worlds/worlds/*.world

Real robot

The robot's on-board computer has all the necessary ROS nodes to operate the robot and it is fully configured.

IMPORTANT: when using the real robot, make sure you follow all the procedures listed above in this file.

What to do next

All the tutorials included in this section can be used both in simulation or with the real robot.

  • To teleoprate the robot, follow the instructions in this tutorial

  • To create a map of the simulated environment, follow the instructions in this tutorial[]

  • To navigate the robot in the new environment, follow the instructions in this tutorial[]

Developers

For advanced users and developers, here there is a more in depth information about the robot and its dependencies.