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.

• Introduction
• System Configuration
• Existed Components
  • RTCHokuyoAIST
  • KobukiAIST
  • MobileControlRTC
• New Components
  • MapperRTC
  • MainControllerRTC
  • PathPlanningRTC
  • VoiceInterfaceRTC
  • VoiceServiceRTC
• Changelog

System Configuration

Existed Components

Components was built by the other authors.

RTCHokuyoAIST

This RTC is used to support Hokuyo Laser Range Finder.

• Website: https://gbiggs.github.io/rtchokuyoaist/
• Features
  • Support all series of Hokuyo Laser Range Finder
  • Configure all setting of Hokuyo Laser Range Finder
  • Receive range data from Hokuyo Laser Range Finder
• Requirements
  • Libraries
    • HokuyoAIST https://gbiggs.github.io/hokuyoaist/
    • Flexport https://gbiggs.github.io/flexiport/
  • OS
    • Linux Distributions
    • Windows
    • Mac OS X
  • Softwares
    • OpenRTM-aist C++ 1.0 or later
    • CMake 2.8

KobukiAIST

This RTC is used to control Kobuki mobile robot platform.

• Website: http://openrtm.org/openrtm/node/273
  
• 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
  
• 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
  
• 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
  
• 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
  
• 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
  
• 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.

• Source Code: https://github.com/trunone/VoiceServiceRTC
  
• Features
  • Connect to a Android phone to get the voice recognition result
  • Send a string to Android phone then it will speak the text out
• Requirements
  • Equipments
    • Android phone
      • Android 4.0.3 or later
      • SL4A App https://play.google.com/store/apps/details?id=org.androidideas.scriptlauncher
  • OS
    • Linux Distributions
    • Windows
    • Mac OS X
  • Softwares
    • OpenRTM-aist C++ 1.1 or later
    • CMake 2.8

Changelog

• First release