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

Project objectives

Not decided yet (in progress...)

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

Proj-2013-2014-RobAIR-2

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