utra-robosoccer / soccerbot Goto Github PK

The goal is to build a simple test program for the L4 microcontroller that can connect to a Dynamixel AX-12 motor and control it. The first objective is to command the motor to move to different positions. Once you can do that, try experimenting with the other functionality that the motor provides. Reading motor positions, reading joint torques values, temperature readings, etc.

http://www.trossenrobotics.com/images/productdownloads/AX-12(English).pdf

Try docker or something

https://docs.google.com/document/d/1iRkGU3yp8v1dRnAWBZkdbcu7KqictqRXEXHWA29hRMI/edit?usp=sharing

Replace the current map soccerfield.png, which is not actually a soccerfield, and get information for the actual soccerfield dimensions from the latest rulebook
https://www.robocuphumanoid.org/materials/rules/

The map is a 2D grid of the world, where every pixel is 5cm. The map should contain the field lines as dark spots. You should be able to test the map by using map_server. Create a launch file that only launches the map in soccerbot/launch/modules

Ensure the map file is a pgm file, you can use online converters

Once you are done creating a test map. Send a pull request for review

NEW

Instead of the soccerfield map, create a map the same size as the small test grass field I created before. Upload that map in the same directory as the new map

The 3D représentation of the smaller test field can be found within soccerbot/soccer-gazebo and the dimensions are written in I think some .sdf file

The current robosoccer.world is not a realistic version of the actual RoboCup. I need someone to turn the turf into the more realistic grass and turn the goal posts white. Also, there we need to encircle the world inside a large white box to simulate the tournament settings

Difficulty; Advanced

Think of the robot as a serial link (Treat the head and arm joints as non-moving)
Given a fixed trajectory for walking. Calculate the velocity of each of the trajectory

https://www.jetsonhacks.com/2018/07/25/i2c-nvidia-jetson-tx2-development-kit/

https://www.robotshop.com/ca/en/16x2-character-lcd-display-white-blue-5v.html

Procure your own device and then test it with the Tx2. Write some python scripts for testing and sending text to the TX2. Retrieve IP address from the robot and automatically display the IP address

Soccer RL is a new effort to try to publish and subscribe entire states onto the robot, and use a 2 neural network method to train the robot to walk. Enable the connection to work first

Difficulty Level: Advanced

Visualize the Humanoid robot as a serial link where one of the foot is the base of the matrix and the other foot is the endpoint of the matrix. Using this, calculate the mass matrix D(q)*qdot in the Robotics Equation. The mass matrix will be a function of the joint variables q qdot. First the velocity values need to be calculated qdot. See task

Create an automated script for the robot to start in a certain position. Basically pass in the simulation parameter the start_position:=lying_down or something

200 line request so that they wont get mad. Add some stuff we want to purchase

We need to record some video data to test localization.

SIMULATION ONLY
Step 1: Setup your ROS environment
Step 2: I merged omnibot workspace and soccer workspace in soccer_ws. Create a branch of soccer_ws called your initials underscore project. (Etc ap_omnibot_description) Add a launch file here to launch the omnibot instead of the soccer bot.
https://github.com/utra-robosoccer/soccer_ws/tree/master/soccerbot/soccer_gazebo/launch
Step 3: Fix the formatting on omnibot model.xacro
Step 4: Run rviz and usb_cam and install on omnibot
Step 5: Create a package that uses http://wiki.ros.org/teleop_twist_keyboard and control the omnibot with the keyboard
Step 6: Run rosbag and record the robot moving around, keep the video for future purposes

REAL ROBOT
Step 1: Setup the communication between the arduino and the robot to be able publish twist messages to the robot
Step 2: Record video data with rosbag

DEADLINE: October 14th. See the status for added milestone

In soccer_description/config, add the motor limit to each robot's angles.

The soccer_hardware will read these parameters (max angle, min angle) at the start of the script

When running, if the angle exceeds that limit. It will stay in the past position

Instead of running soccer build and soccer gazebo.sh in the scripts folder. We have some desktop shortcuts to make things easier for us. Simply create a copy of the old soccer script and modify the names so that it runs the default soccer_rl script

Since some of our development computers don't have GPU and no CUDA as a result, and some others have CUDA, I need to be able to build the environment smoothly without having to create. CATKIN_IGNORE file every time we are pulling the git repository back into the workspace. Should edit the darknet_ros/darknet_ros/CMakeList.txt to not interrupt build when cuda is not found and instead skip the package

Sure just make a python node that upon seeing a ball where the latest transform to the ball is fairly new. Send a ros message of the position you want to move the robot to

And then upon the robot is close enough. Kick the ball

The python node should also keep track of the current state of the robot. (Fallen, standing, walking)

All of these debugged as a ros message

As in the state of the robot is a string that is published every second

For now, actually, one person can just work on the get back up logic in simulation

http://www.connecttech.com/pdf/CTIM-ASG003_Manual.pdf

Instead of using the external USB to serial, use the native serial port. It is currently not working. It is probably some port settings on the TX2. Fix them

Work on the mechanical design have the Autodesk design completed

Larger feet for better balance. Should leave room for microcontroller + wires on the side for pressure sensor testing.

Foot design based on the largest the foot can be from 2020 rule book restrictions: http://humanoid.robocup.org/wp-content/uploads/RCHL-2020-Rules.pdf

• Any new memebr list updates should be sent to Hailey
• We can look into setting up fob access for users as soon as the following is complete:
  • You confirm the space still works for UTRA
  • UTRA sends us an updated contract, which includes a statement the safety training requirements (can be in the Code of Conduct section)
  • UTRA sends an updated list of users, including confirmation of safety training for each
  • Final contract is approved by Space and Equipment Committee

You probably already have these. These repositories will be sub repositories under soccer_ws. Also please let @carl Zhang help you setup your IDE. CLion is the best IDE there is

Sure just make a python node that upon seeing a ball where the latest transform to the ball is fairly new. Send a ros message of the position you want to move the robot to

And then upon the robot is close enough. Kick the ball

The python node should also keep track of the current state of the robot. (Fallen, standing, walking)

All of these debugged as a ros message

As in the state of the robot is a string that is published every second

For now, actually, one person can just work on the get back up logic in simulation

Active Center of Mass and Multiple Moment of Inertia Calculations

Find center of mass of multiple objects by using this
http://ruina.tam.cornell.edu/Book/COMRuinaPratap.pdf

Use the parallel axis theorem for total moments of inertia
https://en.wikipedia.org/wiki/Parallel_axis_theorem

Combine these and use it to visualize them in simulink

Based on accessibility, ventilation, modularity, weight of components, etc.

Carl, this is your opportunity to take what you learned in Simulink tutorials and apply

The launch script should basically launch the omnibot into the real robotcup. It should also launch into the test field. I will show the test field later

• When not plugged in, wait for plugged in
• When plugged in, when unplugged, go back to wait for plugged in
• When Ctrl-C pressed, should not exit with SIGTERM or SIGKILL

In scripts/gazebo.sh.

The line $MY_IP only tests wlp4s0 interface to find the IP address, we need to modify this so that it will try a number of different interfaces such as wlan0 in a try catch statement. This will make it so that we don't have to change the interface line everytime we install the simulator on a new robot

Find out how many we need, what we need, in email to AMD