Difference between revisions of "2019WinterTeam2"
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:::<code>ls -l /dev |grep ttyUSB</code><span style="color:blue">#lists the port connected to the LiDAR</span> | :::<code>ls -l /dev |grep ttyUSB</code><span style="color:blue">#lists the port connected to the LiDAR</span> | ||
:::<code>sudo chmod 666 /dev/ttyUSB0</code><span style="color:blue">#grants permission to write to USB0</span> | :::<code>sudo chmod 666 /dev/ttyUSB0</code><span style="color:blue">#grants permission to write to USB0</span> | ||
::To test the RPLiDAR within ROS, we can run the rplidar node and view the realtime readings and mappings: | ::To test the RPLiDAR within ROS, we can run the rplidar node and view the realtime readings and mappings: | ||
:::<code>roslaunch rplidar_ros view_rplidar.launch</code><span style="color:blue">#running the | :::<code>roslaunch rplidar_ros view_rplidar.launch</code><span style="color:blue">#running the RPLiDAR live feed | ||
[[File:RPLidar_room.png|thumb|center|alt=Alt|upright= | [[File:RPLidar_room.png|thumb|center|alt=Alt|upright=2| text An example of an RPLiDAR scanning the room]] | ||
Revision as of 03:03, 25 March 2019
Team 2 attempted to achieve object avoidance by incoorporating a 360° RPLIdar along with the camera, and controlling their operation using ROS (Robot Operating System).
Introduction
Welcome to team2 ECE148 Wiki page. In this class, we build and utilized a remote-controlled car. In this page, we will cover the details behind the design of the RC car and demonstrate results. The goal in this class was to perform the following tasks:
- Autonomously drive on an indoor track
- Autonomously drive on an outdoor track
- Obstacle avoidance using RPLidar and ROS
Team Members
- Chen Du (ECE grad)
- Jingying Chen (MAE undergrad)
- Marshall Garcia (MAE undergrad)
- Tina Kafel (ECE undergrad)
RC Car details
- RC Car hardware:
- RC Car software:
ROS Project
- ROS [ROS Wiki]
- The ROS Wiki explains ROS in great details. Here is a sum of the content learned from this webpage for the project.
| ROS Command | Description |
|---|---|
| rospack find <package name> | |
| roscd <package name> | |
| rosls <package name> | |
| roscore | |
| rosnode list | |
| rosnode info | |
| rosrun <name of package> <name of node> | |
| rosnode ping <name of the node> | |
| rostopic list | |
| rostopic pub | |
| rosservice list | |
| rosservice call |
- RPLidar
- What is an RPLidar? Lidar is a device that measures the distance to a target by sending pulsed laser beams and receiving the reflected beams with a sensor. The accuracy of lidar is higher than other sensors of similar nature, such as an IR sensor or an ultrasonic sensor. An RPLidar is a 360-degree 2D lidar.
- What are the different types of RPLiDAR?
- The RPLidar used in our project is the A1M8 12M range model. A1M8 is based on laser triangulation ranging principle and uses high-speed version acquisition and processing hardware. This system measures distance data more than 8000 times per second.
- The other model
- The other other model
- ROS and RPLidar
- Upon every connection to a USB port, sudo permission to access the serial port for the lidar must be granted. In the Linux operating system, the command to list the responsible port and granting permission would be the following:
ls -l /dev |grep ttyUSB#lists the port connected to the LiDARsudo chmod 666 /dev/ttyUSB0#grants permission to write to USB0
- Upon every connection to a USB port, sudo permission to access the serial port for the lidar must be granted. In the Linux operating system, the command to list the responsible port and granting permission would be the following:
- To test the RPLiDAR within ROS, we can run the rplidar node and view the realtime readings and mappings:
roslaunch rplidar_ros view_rplidar.launch#running the RPLiDAR live feed
- To test the RPLiDAR within ROS, we can run the rplidar node and view the realtime readings and mappings:
