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tags: vsclab ros turtlebot youbot

ROS Tutorial (VSCLab 新訓)

新生訓練課程規劃
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PART1 基礎教學

內容由淺入深，適合完全不懂 ROS 的人

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2021_ROS Taoyuan Summer School

請依序閱讀以下資料夾內的內容，並且搭配課程影片與講義來學習：

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    01_專業講座
    • ROS 1 簡介 1.mp4
    • ROS 1 簡介 2.mp4
    • ROS 2 簡介 DDS 通訊機制 1.mp4
    • ROS 2 簡介 DDS 通訊機制 2.mp4
    • 模擬器學習機器人建圖與導航.mp4
    • ROS 應用程式開發.mp4

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完成以上教學者，即可進行「PART2 實體機台操作」

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Notes: ROS 通常運行在 Ubuntu Linux 系統， 以下提供兩種作法來安裝 Ubuntu 20.04 LTS

  1. 在 Windows 環境中使用虛擬機 （詳見
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    02_初階工作坊/1.ROS 系統開發環境設定.pdf）

使用虛擬機會消耗較多電腦資源(因同時跑兩個作業系統)，若後續要連接其他實體感測器可能會出問題，但安裝容易。

  1. 安裝雙系統 Win10 + Ubuntu (推薦
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    )

使用雙系統雖然安裝步驟繁瑣，而且可能會搞砸電腦(對於完全不懂重灌電腦的新手)，但是安裝完便一勞永逸，還多學會一項實驗室必備技能。

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其他 ROS 教學資源

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PART2 實體機台操作

(1) TurtleBot3 Tutorial

TurtleBot 的連線已經事先設定好，建議大家使用 TurtleBot 實驗區的電腦來進行操作

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(2) KUKA YouBot

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YouBot 新訓教材下載

TurtleBot3

PART 1. TurtleBot 基礎操作

(1) TurtleBot3 (簡稱TB3) 零件介紹
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更多詳細資訊

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Image Not Showing Possible Reasons
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TB3 零件盒放在實驗桌的抽屜

(2) TurtleBots in VSCLab

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馬達上有貼 IP 標籤以供識別

(3)
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電源注意事項(重要！)

  • OpenCR 電源規格表
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可否將電池
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與充電座
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同時插在 OpenCR 板子上？

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Answer:

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    充電座 SMPS (圖左, 12V 5A) 與 鋰電池 (圖右, 11.1V) 不能同時供電！
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    僅允許使用一種電源輸入
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    進行長時間操作(如：更新軟體、重灌系統)，請使用充電座
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    請務必一手按住 OpenCR，一手小力插拔充電座(SMPS)，避免接頭從板子脫落

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  • 充電接線配置

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    移除電池時，請使用扳手來拆卸電池充電線，如下圖

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(4)
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連接螢幕

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插入 Micro HDMI 之前，樹梅派必須先關機。

(5) SSH 連線至 TurtleBot

Username Password
ubuntu turtlebot
1. Master OS is Win10

利用 SSH 軟體，如 Bitvise, PuTTY 等，並依照以下設定

2. Master OS is Ubuntu
  • command: ssh
$ ssh ubuntu@192.168.1.101
$ ssh ubuntu@192.168.1.102

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連線出問題時，進行以下 SOP

  1. 確認 TurtleBot、電腦是否連線到 VSCLAB Wi-Fi
  2. 檢查 ROS_Master_URI、ROS_HOSTNAME 的設定是否正確
  3. 檢查 連線埠(port) 的設定是否正確

其他參考資料：

(6)
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依官網教學範例練習

請至 TurtleBot3 Official Website 完成以下練習

(7)
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使用 Pi Camera 拍照

(8)
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小挑戰：使用 RealSense 拍照

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提示

PART 2. AutoRace 競賽題目
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AutoRace 包含以下比賽項目：

  • 道路偵測駕駛
  • 影像辨識
  • 自動避障
  • 自動停車
  • SLAM導航

請大家參考以下教學來共同完成此項目。

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AutoRace ROS 自動駕駛線上研習

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我們的目標是希望大家可以從暑假開始，漸漸地完成 AutoRace 的競賽項目，同時熟悉 TurtleBot 的操作，並且藉此發想其他能夠在 TurtleBot 完成的題目。

例如： line follower

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