iri_ana_how_to
Description
Show more
The Ana robot is based on a Pioneer 3 AT platform which has been updated with:
-
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:
-
A low cost IMU sensor Adafruit BNO055
-
A 3d Lidar Velodyne VLP-16 PUCK
-
A depth camera Intel RealSense D435
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.
- Simulation
- Real robot
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_makeUsage
Simulation
roslaunch iri_ana_gazebo sim_sample.launchDefault 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.