Proj-2013-2014-RobAIR-2

Introduction

The Robair project aims to develop a platform for robotic telepresence used for both teaching ambient intelligence and testing low cost (ie well below the price of market platforms) of service robotics in real environments. This platform aims extensible and open source (open software, open hardware, open design, open data).

More information on Project RobAIR

Team

• Tutors : Didier Donsez, Amr Alyafi

• Members : David Levayer, Paul Mariage

• Departement : RICM 4, Polytech Grenoble

Related documents

• How to create your own robot : here
• How to install ROS and run your first package : here
• How to configure and launch your robot : here
• Our report : File:Projet-robAir.pdf

Project objectives

• Build the new robAIR with his new architecture and sensors
• Create a strong documentation in order to help future students and apprentices in robotics to build their own robot

Software Requirements Specification

• The Software Requirements Specification (SRS) can be found here.

Progress of the project

The project started January 14th, 2013.

Week 1 (January 13th - January 19th)

• Project discovery
• Research on related projects (previous years: 2013, 2012)
• Learning of ROS: Official website

Week 2 (January 20th - January 26th)

• Learning of ROS (in progress)
• Installation of ROS packages on Ubuntu (in progress)
• Assembly of two new RobAIRs (they will be named soon...) (in progress)

Week 3 (January 27th - February 2nd)

• Assembly of two new RobAIRs (they will be named soon...)
• Beginning of the redaction of Software Requirements Specification
• ROS environment installed on Ubuntu
• RobAIR can now move by itself ! (debug in progress)
• Meeting with Amr Alyafi (effective code obtained)

Week 4 (February 3rd - February 7th)

• Integration of basic sensors (infrareds and ultrasonics)
• Debug of Amr Alyafi code (a lot of variable are written directly in the code, so it's not portative at all...)

Week 5 (February 10th - February 14th)

• Installation and configuration of Arduino IDE
• Basic sketch test ( diode, sensor )
• Meeting with Amr Alyafi in order to check if everything is plugged and installed corretly
• Switch Meduino card to Arduino Mega 25.60 card in order to solve transfer problems
• Implementation, debug and test of arduino sketches and ros code using only one ultrasonic sensor
• RobAIR works!
  http://www.youtube.com/watch?v=g5XhrDY0tFI&feature=youtu.be

Week 6 (February 17th - February 22th)

• Installation of 5 other ultrasonic sensors
• Adaptation of arduino code and ros cos for our installation ( with pin and trigger numbers )
• Debug
• All sensors finally work
• Presentation of RobAIR at Polytech Open Day the 22th

Week 7 (February 24th - February 28th)

• Installation of 8 infrared sensors
• Adaptation of arduino code and ros cos for our installation ( with pin trigger numbers )
• Debug ( in progress )

Week 8 (March 10th - March 14th)

• Mid-Project presentation in order to check the advanced
• Final debug of infrared sensors
• Installation of lidar with library

Week 9 (March 17th - March 21th)

• We tried several package, and Hokuyo Node was the best one.
• Lidar works, but isn't doing what we expected, there is only cloud point and it's not generating a sort of map.
• We are currently working on RVIZ configurations, because previous configs was cfg files and not rviz files.

Week 10 (March 24th - March 28th)

• Still working on rviz and lidar, trying to figure out why we cant get map from the lidar
• Rework on the script to launch robAir, in order to use our config on Hokuyo and RVIZ

Week 11 (March 31th - April 4th)

• Scripts are finished
• Rework on the robAIR hardware, so that the connecting branches are clean
• Repairing of the wheel that is not working properly
• Meeting with Amr Alyafi in order to know how the lidar is working to generate a map
• It seems like we cant generate a map with lidar, so we will try to use a kinect

Week 12 (April 7th - April 9th)

• Trying to install Kinect, but it's currently not working
• Finalisation of everything, in order to have a clean project for the presentation
• Creation of presentation, flyer, poster