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.
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