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프로젝트 목차

1. 프로젝트 목적

로봇에 카메라를 부착하고 A에서 B지점으로 찍는 실내 네비게이션 로봇을 만들어라.
AR마커를 이용한 도킹스테이션을 기점으로 도착지점을 찍고 다시 돌아오게 설계해야한다.

2. 프로젝트 계획표

3.사용된 장비

• 터틀봇3(Turtlebot3)
  
  
• raspberry pi camera
  
  
• Linux PC(OS : ubuntu 18.04)
  
  
• ROS 1(melodic)
  
  

4.설치(installing)

• remote PC
  

  • ROS 1 설치Link를 통해 설치한다.

  • 필요한 Depandancy 설치
    

        
            sudo apt-get install ros-melodic-joy ros-melodic-teleop-twist-joy ros-melodic-teleop-twist-keyboard ros-melodic-laser-proc ros-melodic-rgbd-launch ros-melodic-depthimage-to-laserscan ros-melodic-rosserial-arduino ros-melodic-rosserial-python ros-melodic-rosserial-server ros-melodic-rosserial-client ros-melodic-rosserial-msgs ros-melodic-amcl ros-melodic-map-server ros-melodic-move-base ros-melodic-urdf ros-melodic-xacro ros-melodic-compressed-image-transport ros-melodic-rqt-image-view ros-melodic-gmapping ros-melodic-navigation ros-melodic-interactive-markers
        
    

  • Turtlebot3 패키지 설치(melodic version)
    

        
            cd ~/catkin_ws/src/
            git clone https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git
            git clone -b melodic-devel https://github.com/ROBOTIS-GIT/turtlebot3.git
            cd ~/catkin_ws && catkin_make
        
    

  • Turtlebot3 application 패키지 설치(melodic version)
    

        
            cd ~/catkin_ws/src
            git clone https://github.com/ros-perception/ar_track_alvar.git
            git clone https://github.com/ROBOTIS-GIT/turtlebot3_applications.git
            git clone https://github.com/ROBOTIS-GIT/turtlebot3_applications_msgs.git
            cd ~/catkin_ws && catkin_make
        
    

  • 통합 launch 파일 패키지 설치
    

        
            cd ~/catkin_ws/src
            git clone https://github.com/DonGikS/behavior_controller.git
            cd behavior_controller/turtlebot3_navigation/launch
            mv move_base.launch ../../../turtlebot3/turtlebot3_navigation/launch
            cd ~/catkin_ws/src/behavior_controller/turtlebot3_description/urdf
            mv turtlebot3_burger.urdf.xacro ../../../turtlebot3/turtlebot3_description/urdf
            cd ~/catkin_ws && catkin_make
        
    

  • ROBOT(turtlebot3에서)
    터틀봇 라즈베리파이 활성화Link참고

    • turtlebot3_bringup/launch/turtlebot3_rpicamera.launch 파일 수정

          <param name="framerate" type="int" value="30" />
          <param name="exposure_mode" value="antishake" />
          <param name="shutter_speed" value="0" />
          <param name="quality" type="int" value="10" />
          <param name="width" type="int" value="320" />
          <param name="height" type="int" value="240" />
          <!--뒤집혀있으면 넣는다
          <param name="hFlip" type="int" value="true" />
          <param name="vFlip" type="int" value="true" />
          -->
    
          <param name="camera_frame_id" value="camera" />
          <!--이거 있으면 카메라전송 속도가 빨라짐-->
          <param name="/raspicam_node/quality"  value="9"/>
      </node>
    

  • Calibration with raspicam_node
    

    • Remote PC에서
      

          
              roscore
          
      

    • ROBOT(turtlebot3에서)
      

          
              roslaunch turtlebot3_bringup turtlebot3_rpicamera.launch
          
      

    • Remote PC에서
      

          
              rosrun image_transport republish compressed in:=/raspicam_node/image raw out:=/raspicam_node/image
              rosrun camera_calibration cameracalibrator.py --size 8x6 --square 0.024 image:=/raspicam_node/image camera:=/raspicam_node
          
      

    
    

    • calibration 저장하고나서

          
              cd /tmp
              tar -xvzf calibrationdata.tar.gz 
              mv ost.txt ost.ini
              rosrun camera_calibration_parsers convert ost.ini camera.yaml
              mv camera.yaml ~/.ros/camera_info/
          
      

  • AR 마커 트래커
    

    • Remote PC에서
      

          
              roscore
          
      

    • ROBOT(turtlebot3에서)
      

          
              roslaunch turtlebot3_bringup turtlebot3_rpicamera.launch
          
      

    • Remote PC에서
      

          
              roslaunch ar_track_alvar pr2_indiv_no_kinetic.launch
              rviz rviz
          
      

    fixed frame을 카메라 이름으로 한다.
    

  • 맵 제작
    

    • Remote PC에서
      

            
                roscore
            
        

    • ROBOT(turtlebot3에서)
      

        
            roslaunch turtlebot3_bringup turtlebot3_robot.launch
            
        
      

    • Remote PC에서
      

            
                roslaunch turtlebot3_slam turtlebot3_slam.launch slam_methods:=cartographer
            
        

      (mapping...)
      
      

            
                rosrun map_server map_saver -f ~/map_my_kiro
            
        

      

5.실행(operating)

• Remote PC에서
  

        
            roscore
        
    

• ROBOT(turtlebot3에서)
  

    
        roslaunch turtlebot3_bringup turtlebot3_robot.launch
        roslaunch turtlebot3_bringup turtlebot3_rpicamera.launch
    
  

• Remote PC에서
  

        
            roslaunch behavior_controller execute.launch
        
    

6.블록다이어그램

+하드웨어 블록다이어그램

+소프트웨어 블록다이어그램

+동작 알고리즘 블록다이어그램

7.참고자료

raspberry_pi_camera_with_turtlebot3 ar_track_alvar
teb_local_planner_tutorials
turtlebot3_application_auto_parking_vision
turtlebot3_slam
ros_melodic_cartographer
raspicam_node_too_slow
roslaunch turtlebot3_slam turtlebot3_slam.launch slam_methods:=cartographer configuration_basename:=turtlebot3_lds_2d_gazebo.lua