Crea%ve So*ware Project Duckietown Descrip%on. Nick Wang

Transcription

1 Crea%ve So*ware Project Duckietown Descrip%on Nick Wang

2 Install duckietop $ sudo apt- get install ros- indigo- xacro ros- indigo- robot- state- publisher ros- indigo- urdf- tutorial You may connect to NCTU wifi or your own cellphone for faster internet Slides are available on E3 Op%onal? $ sudo apt- get install ros- indigo- pr2- common ros- indigo- pr2- descrip%on ros- indigo- joint- state- publisher

3 Today: Can we draw the environments in duckietown_descrip%on? Pose & Transforma%on URDF xacro T duckietown_descrip%on

4 Part II Jupyter Notebook Tutorial by Brian Mocap Tutorial by Jack End of Semester Party! Snacks and Drinks Robo%c Vision Spring 2017 感性時間 闖關 ~~

5 Problem Formula%on What s the minimum Duckietown setup to prove your idea? What essen%al func%onali%es will you use? Draw your FSM Diagram Draw your Duckietown Environments

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13 How to represent a pose in 3D? Need to represent posi%on and orienta%on of robot or sensor 6 Degrees of Freedom or 6- DoF Pose Represented w.r.t. a coordinate frame Posi%on (3D transla%on) Orienta%on (3D rota%on) rpy[3]: roll, pitch, and yaw quat[4]: quaternion rot[9]: rota%on matrix 3x3 1 3

14 Transforma%on: Transla%on and Rota%on

15 Rota%on Matrix (3x3) Rota%on Matrix (3x3) Inver%ble. From all the infinite RR = R R = I 3 ) R z (φ) = R y (χ) = R x (ψ) = cos φ sin φ 0 sinφ cos φ cos χ 0 sinχ sin χ 0 cosχ cosψ sin ψ 0 sinψ cos ψ Yaw rotates around Z Pitch rotates around Y Roll rotates around X

16 Transforma%on Matrix (4x4) Also Inver%ble ( ) Pose Composi%on t x R t y t z (c) Composition p1 p2

17 URDF Unified Robot Descrip%on Format (URDF), which is an XML format for represen%ng a robot model. rpy, xyz, mesh(dae), base_link

18 In- Class Exercise: Meet the duckiebot.urdf $ cd ~/duckietown/catkin_ws/src/fall2016_nctu/ tutorials/ $ vim duckiebot.urdf $ roslaunch urdf_tutorial display.launch model:=duckiebot.urdf

19 Xacro Xacro (XML Macros) Xacro is an XML macro language. With xacro, you can construct shorter and more readable XML files by using macros that expand to larger XML expressions. Convert xacro to urdf directly $ rosrun xacro xacro.py - o model.urdf model.urdf.xacro

20 csv - > urdf.xacro 3les_4E.csv tags_4e.csv

21 csv - > urdf.xacro $ roslaunch duckietown_descrip%on csv2xacro_node.launch %le_map_csv:=absolute path tag_map_csv:=absolute path map_name:=xxx $ roslaunch duckietown_descrip%on csv2xacro_node.launch %le_map_csv:=/home/ robotvision/duckietown/catkin_ws/src/ duckietown_descrip%on/%les_4e.csv tag_map_csv:=/home/robotvision/duckietown/ catkin_ws/src/duckietown_descrip%on/ tags_4e.csv map_name:=map_4e2

22 urdf/map_4e2

23 urdf/macro.urdf.xacro

24 Download or Build Your own dae file

25 T T is a package that lets the user keep track of mul3ple coordinate frames over %me. T maintains the rela%onship between coordinate frames in a tree structure buffered in %me, and lets the user transform points, vectors, etc between any two coordinate frames at any desired point in %me.

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27 duckietown_descrip%on Load the map and robot $ roslaunch duckietown_descrip%on duckietown_descrip%on_node.launch veh:=trabant Publish T $ rosrun T sta%c_transform_publisher /world /duckiebot 1000

28 Jupyter Notebook Tutorial by Brian Transla%on Rota%on by rpy Rota%on by quat Transla%on + Rota%on Composi%on