Project:ARP: Difference between revisions
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== ARP - ''Autonomous Rover Project'' == | == ARP - ''Autonomous Rover Project'' == | ||
[[File:4wdPlatform2.png|thumb|The 4wd mobile platform base for ARP]] | |||
I know what you'll say. '''ARP''' stands for ''Address Resolution Protocol''. | I know what you'll say. '''ARP''' stands for ''Address Resolution Protocol''. | ||
Although I agree that reusing acronym is not best practice, on the other hand in this case context should suffice. | Although I agree that reusing acronym is not best practice, on the other hand in this case context should suffice. | ||
| Line 9: | Line 9: | ||
It will be most likely be 4WD, packed with a number of sensors and cameras (perhaps kinect). | It will be most likely be 4WD, packed with a number of sensors and cameras (perhaps kinect). | ||
One of the central ideas about the robot is that it should be able to identify a UK socket and plug and charge itself when the battery requires it. | One of the central ideas about the robot is that it should, one day, be able to identify a UK socket and plug and charge itself when the battery requires it or anyway find a way to auto power itself. | ||
To achive this and more we are to build and mount an arm on the rover to be able to do some tasks at different heights, like charging for instance. | |||
The project is open source | [https://github.com/tryexcept/autonomousroverproject The project is open source] | ||
I think that once you can do these things, you can do so much more. | I think that once you can do these things, you can do so much more. | ||
I would like to make the robot play with the dog (or kid one day) and one day interact around the world both physically | I would like to make the robot play with the dog (or kid one day) and one day interact around the world both physically | ||
as well as wifi/bluetooth/upnp, etc. | as well as wifi/bluetooth/upnp, etc. | ||
== Updates == | |||
[[User:tryexcept|tryexcept]] is moving abroad. The project will still carry on, but we will be developing the bots separately while collaborating on the ROS/Control layer | |||
=== Revision 0.1 === | === Revision 0.1 === | ||
'''Components''' | '''Components''' | ||
; Hardware | |||
: Off the shelf [http://www.active-robots.com/4wd-aluminium-mobile-platform-black.html 4WD Aluminium platform], easy to start with but will probably have to upgrade as we learn and hit the limits | |||
: raspberry pi for running ROScore | |||
: Arduino Mega(for low level control) | |||
: [http://www.coolcomponents.co.uk/catalog/arduino-motor-shield-rev3-p-860.html Arduino motor shield v.3] (just because it's easier!) | |||
: Kinect | |||
: Bespoke manipulation arm (a project in itself) | |||
; Software | |||
: [[http://ros.org ROS]] for higher level processing | |||
: Arduino [http://www.ros.org/wiki/rosserial_arduino/ firmware], interfacing with ROS | |||
=== Future developments === | === Future developments === | ||
| Line 37: | Line 45: | ||
* radio shields | * radio shields | ||
* various other sensors to be categorized. | * various other sensors to be categorized. | ||
=== Resources === | |||
* [http://www.ros.org Ros] | |||
* [http://www.youtube.com/watch?feature=player_embedded&v=6oDrO5EKU5w#! Ros mapping in action] | |||
** [http://www.showusyoursensors.com/2010/08/ros-and-other-ramblings.html Using Poor Man's Lidar] | |||
** [http://vanadium-ros-pkg.googlecode.com/svn/graveyard/pml/republish.py ROS node Python code] | |||
* [http://arduino.cc Arduino] | |||
* [http://arduino.cc/en/Tutorial/SFRRangerReader Reading ultrasound from arduino] | |||
* [http://www.bootc.net/archives/2012/05/26/how-to-build-a-cross-compiler-for-your-raspberry-pi/ Cross-compiling] | |||
* [http://www.ros.org/wiki/fuerte/Installation/Debian Ros on Debian from src] | |||
* [http://www.ros.org/wiki/ROSberryPi/Setting%20up%20ROS%20on%20RaspberryPi Ros on Raspbian from src] | |||
=== Stages === | |||
1) Go around the room and map it | |||
Status = can read from sensors and move all motors and servos, need to control from ros now. | |||
Latest revision as of 18:11, 4 January 2013
ARP - Autonomous Rover Project
I know what you'll say. ARP stands for Address Resolution Protocol. Although I agree that reusing acronym is not best practice, on the other hand in this case context should suffice. I don't use the word arp often enough to warrant an other name, which I think it's easy to remember.
The project is about constructing an autonomous rover. It will be most likely be 4WD, packed with a number of sensors and cameras (perhaps kinect).
One of the central ideas about the robot is that it should, one day, be able to identify a UK socket and plug and charge itself when the battery requires it or anyway find a way to auto power itself. To achive this and more we are to build and mount an arm on the rover to be able to do some tasks at different heights, like charging for instance.
I think that once you can do these things, you can do so much more. I would like to make the robot play with the dog (or kid one day) and one day interact around the world both physically as well as wifi/bluetooth/upnp, etc.
Updates
tryexcept is moving abroad. The project will still carry on, but we will be developing the bots separately while collaborating on the ROS/Control layer
Revision 0.1
Components
- Hardware
- Off the shelf 4WD Aluminium platform, easy to start with but will probably have to upgrade as we learn and hit the limits
- raspberry pi for running ROScore
- Arduino Mega(for low level control)
- Arduino motor shield v.3 (just because it's easier!)
- Kinect
- Bespoke manipulation arm (a project in itself)
- Software
- [ROS] for higher level processing
- Arduino firmware, interfacing with ROS
Future developments
For now here we will list all the components I have that could become handy within the rover. The full list will come here as more parts of the project come together.
- 2 mbed LPC1768 http://mbed.org/ and three boards/shields (joystick, usb, eth, etc)
- gprs shield
- radio shields
- various other sensors to be categorized.
Resources
- Ros
- Ros mapping in action
- Arduino
- Reading ultrasound from arduino
- Cross-compiling
- Ros on Debian from src
- Ros on Raspbian from src
Stages
1) Go around the room and map it Status = can read from sensors and move all motors and servos, need to control from ros now.
