DumplingBot

network setup

On the Raspberry Pi

export ROS_MASTER_URI=http://jessyxie.wv.cc.cmu.edu:11311
export ROS_IP=arcpi.wv.cc.cmu.edu

On Jessy's laptop

export ROS_IP=jessyxie.wv.cc.cmu.edu

apriltagslam package

Install gstam:

https://bitbucket.org/gtborg/gtsam/downloads/

Download apriltagslam source code:

git clone https://github.com/ProjectArtemis/aprilslam

Change mapper.cpp:

Mapper::Mapper(double relinearize_thresh, int relinearize_skip)
    : init_(false),
      params_(ISAM2GaussNewtonParams(), relinearize_thresh, relinearize_skip),
      isam2_(params_){
	Vector tag_noise_vector(6);
	tag_noise_vector << 0.2,0.2,0.2,0.1,0.1,0.1;
	Vector small_noise_vector(6);
	small_noise_vector << 0.1,0.1,0.1,0.05,0.05,0.05;
	tag_noise_=noiseModel::Diagonal::Sigmas(tag_noise_vector);
	small_noise_=noiseModel::Diagonal::Sigmas(small_noise_vector);
}

Mecanum drive parameters

Need to measure the following

• base_width
• base_length
• wheel_gap
• wheel_setback
• wheel_radius

To send command to mecanum_command

Float32MultiArray: fl,fr,bl,br

Localization

map.csv format:
id,px,py,pz,ox,oy,oz,ow
need to change equation for dist, depends on position and orientation of camera

DumplingBot Web User Interface

Dependencies

$ sudo apt-get install ros-kinetic-rosbridge-suite

To run

Ensure roscore is running on the local machine.

$ source /opt/ros/kinetic/setup.bash
$ roscore

Run all nodes needed to operate the robot.
To visualize videos, we need to run the webserver.

rosrun web_video_server web_video_server

Start the rosbridge server. By default this runs on port 9090.

roslaunch rosbridge_server rosbridge_websocket.launch

Now open index.html with a web browser.