ROS Repository for Roboard Now Available
ROS Repository for Roboard Now Available
by veltrop
Wed Oct 13, 2010 8:58 am
I am pleased to announce the Veltrop ROS Repository!
The Veltrop ROS Repository leverages ROS to get you up and running with the Roboard and a KHR style robot.
There's been some frustration and difficulties with getting started on the Roboard, so it is my hope to relieve some of this, and to spare people from reinventing the wheel.
Here's a summary of some of the features:
- Pose the robot based on definitions in an XML file
- Execute motions fluidly by running a series of timed poses (XML)
- Stabilization via gyro data
- Definition of a KHR style robot linkage for 3D virtual modeling and servo control (XML)
- Calibrate trim of robot with GUI (X11)
- Calibrate gyro stabilization with GUI (X11)
- Import poses and trim (not motions) from Kondo's Heart2Heart RCB files!
- Control robot remotely over network with keyboard
- Control robot with PS3 controller over bluetooth
- Support for HMC6343 compass/tilt sensor
- Support for Kondo gyro sensors
- Stereo video capture and processing into point cloud
- CPU heavy tasks (such as stereo processing) can be executed on remote computer
- Controls Kondo PWM servos
Here's some missing parts (maybe others would like to contribute here?)
- Control Kondo serial servos
- GUI for editing and running poses/motions
- Tool to capture poses
- More sophisticated motion scripting
- GUI for calibration of A/D inputs
The documentation is here:
http://taylor.veltrop.com/robotics/khrhumanoidv2.php?topic=veltrop-ros-pkg
The documentation tells you how to get the code, and describes each of the components of the Veltrop ROS Repository. I do suggest familiarizing yourself with ROS first, otherwise the code and usage will seem quite alien.
A caveat for the users of this project is that it can be very time consuming to initially install ROS, and to troubleshoot ROS you need to be fairly Linux savvy. If you need some help with that hopefully I can provide it here.
ROS has great tutorials:
http://www.ros.org/wiki/ROS/Tutorials
Give it a try and let me know what you think!
The Veltrop ROS Repository leverages ROS to get you up and running with the Roboard and a KHR style robot.
There's been some frustration and difficulties with getting started on the Roboard, so it is my hope to relieve some of this, and to spare people from reinventing the wheel.
Here's a summary of some of the features:
- Pose the robot based on definitions in an XML file
- Execute motions fluidly by running a series of timed poses (XML)
- Stabilization via gyro data
- Definition of a KHR style robot linkage for 3D virtual modeling and servo control (XML)
- Calibrate trim of robot with GUI (X11)
- Calibrate gyro stabilization with GUI (X11)
- Import poses and trim (not motions) from Kondo's Heart2Heart RCB files!
- Control robot remotely over network with keyboard
- Control robot with PS3 controller over bluetooth
- Support for HMC6343 compass/tilt sensor
- Support for Kondo gyro sensors
- Stereo video capture and processing into point cloud
- CPU heavy tasks (such as stereo processing) can be executed on remote computer
- Controls Kondo PWM servos
Here's some missing parts (maybe others would like to contribute here?)
- Control Kondo serial servos
- GUI for editing and running poses/motions
- Tool to capture poses
- More sophisticated motion scripting
- GUI for calibration of A/D inputs
The documentation is here:
http://taylor.veltrop.com/robotics/khrhumanoidv2.php?topic=veltrop-ros-pkg
The documentation tells you how to get the code, and describes each of the components of the Veltrop ROS Repository. I do suggest familiarizing yourself with ROS first, otherwise the code and usage will seem quite alien.
A caveat for the users of this project is that it can be very time consuming to initially install ROS, and to troubleshoot ROS you need to be fairly Linux savvy. If you need some help with that hopefully I can provide it here.
ROS has great tutorials:
http://www.ros.org/wiki/ROS/Tutorials
Give it a try and let me know what you think!
