Husky & Jackal Project

Husky & Jackal Project === ###### tags: `husky`, `jackal` [TOC] Work Distribution --- | Task | members | | -------------------- | -------------- | | Kinova Arm Control | 鄭家豪、劉劭暐 | | Husky Path Planning | 黃禹維、許晏誠 | | Coordinate Transformation|王博慧| Gantt v2 --- ```mermaid gantt title Gantt Chart dateFormat M-D axisFormat %m-%d section Arm Control A: a1, 02-20, 7d B: after a1, 7d section Path Planning set waypoints: done, waypoints, 02-20, 7d rostopic control: done, rostopic, after waypoints, 3d Test: active, after rostopic, 7d section Coordinate TF 熟悉程式: done, plan, 02-20, 7d tf code: done, code, after plan, 5d Test: done, after code, 4d change timing for pub. coordinate: done, 03-28, 5d cv-image to ros message: done, 04-29, 7d section Jackal Local Network Setup: done, network, 04-10, 7d Hardware Setup: done, hw, after network, 7d Husky & Jackal Communication: done, comm., after hw, 7d waypoint setting & test: active, way, after comm., 7d section Itergration robotic arm & camera: done, I, 03-06, 14d Whole test without jackel: done, 03-21, 21d Whole test: active, 04-18, 28d ``` Gantt v1 --- ```mermaid gantt title Gantt Chart dateFormat M-D axisFormat %m-%d section Arm Control A: a1, 02-20, 7d B: after a1, 7d section Path Planning set waypoints: done, waypoints, 02-20, 7d rostopic control: done, rostopic, after waypoints, 3d Test: active, after rostopic, 7d section Coordinate TF 熟悉程式: done, plan, 02-20, 7d tf code: done, code, after plan, 5d Test: done, after code, 4d section Itergration Intergration: active, I, 03-06, 21d Done: milestone, 03-31 ``` ## KINOVA control ```bash= cd catkin_ws source devel/setup.bash cd src/kinova_gui/ python Arm_autocontrol.py ``` publisher定義的部分在 class RobotArm() 裡 ## Camera & Coordinate Transformation ==1. Start camera to detect object== ```bash= cd catkin_ws source devel/setup.bash roslaunch camera_tf camera_operate.launch ``` publish **/tennis_position** and **/camera_image/detect** If erro occured, change port of video to 1 or 2 or 3 in `camera_detector.py` line 27 and then launch again. ![](https://i.imgur.com/KRtcnQH.png) ## Husky Launch ==1. Open Joystick Control== ```bash= cd ~/catkin_ws/src roslaunch husky_base base.launch ``` ==2.打開IMU== ```bash= cd ~/catkin_ws/src roslaunch mavros px4.launch ``` ==3.打開Lidar== ```bash= cd ~/catkin_ws/src roslaunch velodyne_pointcloud VLP16_points.launch ``` ==4.打開Lio== ```bash= cd ~/catkin_ws/src roslaunch ncrl_lio runlauch ``` ==5.開啟husky 路徑規劃== ```bash= cd ~husky_ws/src roslaunch ncrl_ugv_ctrl husky.launch ``` ## Kinova Launch :::info **請記得先插上 Kinova 的 usb，接著記得開啟電源。** ::: ==1. 開啟 Kinova Lanuch== ```bash= roslaunch kinova_bringup kinova_robot.launch kinova_robotType:=j2n6s300 ``` ==2. 開啟 Arm Auto Contorl== ```bash= cd catkin_ws/src/kinova_gui python Arm_autocontrol.py ``` :::warning **手臂一開始會有歸零的動作，如果沒有歸零或是在車子運行的過程出問題，請將 1、2 關閉，再依序重新執行。** ::: ## Jackal Launch ==1.打開Joystick Control== 1. 開啟jackal ugv電源 2. 按下ps4手把的藍芽配對鍵 3. 手把操作指令與husky一致 ==2.打開arducam AR0134== ```bash== roslaunch arducam_usb2_ros trigger_capture_node.launch # using trigger mode ``` ==3.打開xsense IMU== ```bash== roslaunch xsens_mti_driver display.launch ``` ==4.打開vins-mono== ```bash== roslaunch vins_estimator euroc.launch roslaunch vins_estimator vins_rviz.launch #open rviz check the path ``` ==5.完成初始化== 1. 手持jackal左右前後十字移動 2. 由rviz確定目前初始化尺度 3. 放回原點,可用rostopic echo /vins_estimate/odometry 確定目前位置 ==6.開啟路徑規劃== ```bash== roslaunch husky_error husky_vio.launch ```

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