A RTC set of Kobuki

A RTC set of Kobuki

投稿者: 
trunone

Introduction

This project built a RTC set of Kobuki. Those RTCs are going to build basic functions of Kobubki to be a service robot. For a service robot, basic functions are voice controlling and navigating in the indoor environment. So this project focuses on those two functions.

System Configuration

15664604805_6e728d6278_o.png

Existed Components

Components was built by the other authors.

RTCHokuyoAIST

This RTC is used to support Hokuyo Laser Range Finder.

KobukiAIST

This RTC is used to control Kobuki mobile robot platform.
  • Website: http://openrtm.org/openrtm/node/273
    15478441348_1287ac7d70_o.png
  • Features
    • Control Kobuki by input velocity
    • Receive all sensor data
  • Requirements
    • OS
      • Linux Distributions
      • Windows
      • Mac OS X
    • Softwares
      • OpenRTM-aist C++ 1.1 or later
      • CMake 2.8

MobileControlRTC

Control the motion of Kobuki.
  • Source Code: https://github.com/trunone/MobileControlRTC
    15477956049_bcb4ec183f_o.png
  • Features
    • When the target velocity input it will just output velocity
    • When the target pose input it will control Kobuki moves to the postion
    • The flag will be true if Kobuki arrives the target position
  • Requirements
    • OS
      • Linux Distributions
      • Windows
      • Mac OS X
    • Softwares
      • OpenRTM-aist C++ 1.1 or later
      • CMake 2.8

New Components

Components built in this project.

MapperRTC

Build the map of the environment by Mobile Robot Programming Toolkit.
  • Source Code: https://github.com/trunone/MapperRTC
    15478441318_f66a904f63_o.png
  • Features
    • Receive range data and Odometer to build the map of the indoor environment
    • Estimate the position of the robot
    • Output the map in string format
  • Requirements
    • Libraries
      • Mobile Robot Programming Toolkit 0.9.x
    • OS
      • Linux Distributions
      • Windows
    • Softwares
      • OpenRTM-aist C++ 1.1 or later
      • CMake 2.8

MainControllerRTC

Control all behaviours and strategies of Kobuki.
  • Source Code: https://github.com/trunone/MainControllerRTC
    15043850714_ca575240e1_o.png
  • Features
    • Receive the command state
    • Request the path
    • Decide the behaviour of Mobile Controller
  • Requirements
    • OS
      • Linux Distributions
      • Windows
      • Mac OS X
    • Softwares
      • OpenRTM-aist C++ 1.1 or later
      • CMake 2.8

PathPlanningRTC

Calculate the path to the target from a map.
  • Source Code: https://github.com/trunone/PathPlanningRTC
    15665417562_c231727b2a_o.png
  • Features
    • Receive the environment map in the string format
    • Receive start position and target position then it will calculate path and send back
  • Requirements
    • Libraries
      • Mobile Robot Programming Toolkit 0.9.x
    • OS
      • Linux Distributions
      • Windows
    • Softwares
      • OpenRTM-aist C++ 1.1 or later
      • CMake 2.8

VoiceInterfaceRTC

Convert command text into command state.
  • Source Code: https://github.com/trunone/VoiceInterfaceRTC
    15044463303_96a8b2dea7_o.png
  • Features
    • Receive the string that recognized from voice
    • Output the command to control the state machine
  • Requirements
    • OS
      • Linux Distributions
      • Windows
      • Mac OS X
    • Softwares
      • OpenRTM-aist C++ 1.1 or later
      • CMake 2.8

VoiceServiceRTC

Recognize human voice and convert to a string.

Changelog

  • First release
問合先(メールアドレス): 
u1495010@edu.cc.uec.ac.jp
Resources
Project Information
OS: 
Linux
言語: 
C++
Python
OpenRTM ver.: 
1.1
Average: 
0
まだ投票はありません
最終更新日時: 
木, 2014-11-06 17:52

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1.1.2-RELEASE

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