RobAIR2013-RICM4-Groupe2-Suivi

The Team

This team is composed of two 4th year Polytech Grenoble students, in System & Networks specialty.

The members of this team are Nicolas Afonso and Simon Planès.

Project objectives

Our project is a part of the RobAIR2013 project.

The shared project

RobAIR is a shared project with two others schools:

• ENSIMAG
• Superior Pole Design of Villefontaine

The project consists of the development of a telepresence robot used for museum tours. It is a low cost robot (well below the maket price). The platform and software used for this robot are extensible and follow the OSOHOD2 main lines: open software, open hardware, open design, open data.

Our subproject objectives

We are responsible for the implementation of the ROS environnement in this project. We had to:

• learn the ROS principles
• learn the Python language
• implement ROS nodes in the lego NXT in order to control it
• implement ROS architecture for RobAir (node for the Lidar, the Kinect ... and the topics between these sensors)

Technologies used

• ROS
• Python

Material

For the full material list, follow this link (Bonus: photo gallery)

Progress of the project

We have nearly 3 months to complete this project, starting the 14th of January and presented to our professor the 11th of January.

WEEK 1: from January 14th to January 20th

• We discovered the global project,the different teams and objectives.
• We underlined the difficult points
  • The communication between the differents teams (synchronisation between different schedules, places to work: IMAG or Polytech')
  • What our tutors expects really from us: the project seems to be huge, with a lot of expectations and work to do
• Installation of ROS and first steps with tutorials.

WEEK 2: from January 21st to January 27th

• We organized a meeting with the 3I4 and RICM4 students. During this meeting, we talked about what everyone understood of this project and what everyone's objectives are.
• We met with the three students from Pole Design de Villefontaine and they told us what they have been working on for the last month.
• A meeting minute is available here.
• Meeting with Rémi Barraquand (thanks !) at INRIA to talk about ROS
  • introduction to the ROS principles and architecture
  • useful ROS commands and Tools
  • demonstation: how to make a package and a virtual robot (with Rviz tool), controlled by keyboard or autonomous depending on its driver mode, generating a map during its navigation

WEEK 3: from January 28th to February 3rd

• Talk with Thomas Calmant and Joao Claudio Américo who worked on RobAIR before with Didier Donsez

WEEK 4: from January 4th to February 10th

• Meeting with the RICM5 working on this project

WEEK 5: from February 11th to February 17th

• Meeting with the RICM5 working on this project, and learning ROS tutorials

WEEK 6: from February 18th to February 22nd

• Control of the Lego Mindstorm NXT robot with Python routines

WEEKS 7 and 8: from March 4th to March 15th

• Control of the Lego Mindstorm NXT robot with ROS nodes

WEEKS 9: from March 18th to March 22nd

• RICM5 final presentation

Related documents

• The Software Requirements Specification (SRS) can be found here.
• The global project's page can be found here.
• The UML of this project can be found here.