ROSint - Integration of a mobile robot in ROS architecture

Department of Electrical and Computer Engineering
Faculty of Sciences and Technology
University of Coimbra
ROSint - Integration of a mobile
robot in ROS architecture
André Gonçalves Araújo
A Dissertation presented for the degree of
Master of Science in Electrical and Computer Engineering
Coimbra, July 2012
ROSint - Integration of a mobile
robot in ROS architecture
Supervisor:
Prof. Doutor Rui P. Rocha
Co-Supervisors:
Eng. David Portugal
Eng. Micael Couceiro
Juries:
Prof. Doutor Armando Sousa
Prof. Doutor Jorge Lobo
Prof. Doutor Lino Marques
Prof. Doutor Rui P. Rocha
Project report written for the dissertation subject, included in the
Electrical and Computer Engineering Course, submitted in partial fulfillment
for the degree of Master of Science in Electrical and Computer Engineering.
Coimbra , July 2012
Agradecimentos
Em primeiro lugar quero começar por agradecer em especial ao Professor Doutor Rui
Rocha na minha orientação neste trabalho, prezando pelo seu rigor, organização e estimulação constante, onde sempre depositou bastante confiança nas capacidades do meu
trabalho.
Quero também agradecer, pelo apoio incondicional dos meus co-orientadores David Portugal e Micael Couceiro, pela sua persistência, motivação e ajuda nos momentos mais
difíceis deste trabalho. Para além de orientadores, levo desta experiência dois grandes
amigos.
Agradeço também ao Instituto de Sistemas e Robótica, pelas óptimas condições disponibilizadas, bem como todos os meus colegas de trabalho por toda a boa disposição e
companheirismo, que contribuíram para o meu bom estado de espirito, para progredir
neste trabalho.
Aos meus pais, agradeço profundamente pelo empenho, dedicação e paciência que propulsionaram na minha boa formação, dando me sempre a oportunidade de ter tudo de bom
e melhor, obrigado do fundo do coração. Não podendo esquecer, todo o apoio e carinho
prestado pela a minha família e namorada ao longo destes anos: Ângela, avós, tios e
primos.
Não podia deixar de agradecer a todos os amigos de Braga, em especial atenção ao Aníbal,
Bruno, Carlos, Catarina, Joana, Luís, Maura, Rui, Sérgio, Telmo e Vitor por nunca se
esqueceram de mim, apesar do pouco tempo que lhes disponibilizei. Aos amigos de Coimbra, André Oliveira, André Santos, Gonçalo Ferreira, Gonçalo Palaio, João, Nuno, Patrícia Monteiro, Sérgio, as irmãs Patrícia e Filipa Ferraz e muitos outros, que me ajudaram
desde o primeiro dia em Coimbra até ao final.
Um obrigado muito especial, pelo tempo disponibilizado e atenção, por parte das pessoas
v
vi
que contribuíram para a realização deste trabalho Amadeu Fernandes (MRL, ISR), Beatriz Garrido (DEI, FCTUC), Gonçalo Cabrita (LSE, ISR) e Michael Ferguson (University
of Albany / Willow Garage).
Para finalizar, por todos os momentos felizes, pessoas conhecidas, vivências e experiências
passadas e especialmente a pessoa que me tornaste hoje, muito obrigado Coimbra, que
me deixas saudade para a vida.
Abstract
The goal of this work is to provide hardware abstraction and intuitive operation modes
to decrease the development and implementation time of robotic platforms, thus allowing
researchers to focus in their main scientific research motivations, e.g., search and rescue,
multi-robot surveillance, swarm robotics, among others. To that end, this work presents
the development of a compact mobile low-cost robotic platform, denoted as TraxBot, developed and assembled at the Institute of Systems and Robotics (ISR), which has been
fully integrated in the well-known Robot Operating System (ROS) framework.
Furthermore, several available mobile robots are compared and discussed in terms of their
physical dimensions, hardware, sensors, communication abilities, motion, maximum run
time and special features. This provides support to the reader on the decision-making
acquisition process of a cost-effective robotic platform.
Beyond the survey’s results, the robotic system assembly, with a full description of its
components as well as detailed information about the microcontroller programming, development and testing are also presented. The potentialities of the TraxBot are described,
which combined with the herein presented ROS driver; provide several tools for data analysis and easiness of interaction between multiple robots, sensors and teleoperation devices.
In order to validate the approach, several experimental tests were conducted using both
real and mixed teams of real and virtual robots.
Key Words: ROS, Arduino, mobile robot, embedded system, integration.
Resumo
O objectivo deste trabalho é contribuir, através de abstracção de hardware e criação de
modos de operação intuitivos, na redução drástica do tempo de desenvolvimento e implementação de plataformas móveis. Isto permite aos investigadores focarem-se na sua
motivação principal, tal como busca e salvamento, segurança com múltiplos robôs, swarm
robotics, entre outros. Assim sendo, desenvolveu-se no Instituto de Sistemas e Robótica
(ISR), uma plataforma robótica móvel, denominada TraxBot para simplificar este objectivo. A plataforma foi completamente integrada no ROS (Robot Operating System),
bastante em voga actualmente.
Para além disso, é apresentada uma vasta gama de robôs, comparando e discutindo as
suas características físicas, dimensões, sensores incorporados, poder de processamento,
particularidades de hardware, tempo de autonomia bem como a relação qualidade preço.
O TraxBot é apresentado com a total descrição dos seus componentes, dando ênfase a
detalhes sobre programação, unidade de processamento, características sensoriais e abordagem usada para o desenvolvimento deste robô. É de referir ainda, que as potencialidades
da plataforma são discutidas, juntamente com o driver de integração deste robô em ROS.
Esta integração disponibiliza uma grande variedade de ferramentas e métodos de programação, sendo possível a interacção entre múltiplos robôs, sensores e tele-operação, entre
outras aplicações. Para validar a abordagem, foram realizados vários teste, a nível de desempenho da plataforma, bem como testes usando robôs reais juntamente com simulação
de virtuais.
Palavras Chave: ROS, Arduino, robô móvel, sistemas embebidos, integração.
Declaration
The work in this dissertation is based on research carried out at the Mobile Robots
Laboratory of ISR (Institute of Systems and Robotics) in Coimbra, Portugal. No part of
this thesis has been submitted elsewhere for any other degree or qualification and it is all
my own work unless referenced to the contrary in the text.
Copyright © 2012 by André Gonçalves Araújo.
“The copyright of this thesis rests with the author. No quotations from it should be
published without the author’s prior written consent and information derived from it
should be acknowledged”.
xi
“Once we accept our limits,
we go beyond them.”
Albert Einstein
Contents
Agradecimentos
v
Abstract
vii
Resumo
ix
Declaration
xi
Contents
xv
List of Figures
xix
List of Tables
xx
Notation
xxiii
1 Introduction
2
1.1
Context and motivation . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2
1.2
Hardware abstraction
. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4
1.3
Objectives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4
1.4
Outline of the dissertation . . . . . . . . . . . . . . . . . . . . . . . . . . .
4
2 Related work
6
2.1
Compact mobile robotic platforms . . . . . . . . . . . . . . . . . . . . . . .
2.2
ROS: Robot Operating System . . . . . . . . . . . . . . . . . . . . . . . . 10
2.3
Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
xv
6
Contents
xvi
3 The TraxBot platform
14
3.1
Hardware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
3.2
Assembly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
3.3
Processing and Motion Controller units . . . . . . . . . . . . . . . . . . . . 18
3.4
Sonars and Odometry . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
3.5
Communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
3.6
Batteries . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
3.7
Kinematics
3.8
TraxBot cost . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
3.9
Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
4 TraxBot ROS Driver
4.1
4.2
4.3
26
ROS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
4.1.1
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
4.1.2
Gold marks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
ROS driver development for TraxBot . . . . . . . . . . . . . . . . . . . . . 29
4.2.1
Driver - version 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
4.2.2
Driver - version 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
4.2.3
Driver Features and Potential . . . . . . . . . . . . . . . . . . . . . 35
Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
5 Results and Discussion
40
5.1
Odometry . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
5.2
Sensing and Mapping
5.3
Power Consumption
5.4
ROS Driver Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
5.4.1
Point-to-point Motion . . . . . . . . . . . . . . . . . . . . . . . . . 45
5.4.2
Mixed virtual and real robots teams . . . . . . . . . . . . . . . . . . 46
5.4.3
Teleoperation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
5.4.3.1
5.5
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
Adaptation of the ROS driver in different platform . . . . 48
ROS Driver Limitations . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
5.5.1
Driver first version . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
Contents
5.5.2
5.6
xvii
Driver second version . . . . . . . . . . . . . . . . . . . . . . . . . . 49
Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
6 Conclusions
6.1
Contributions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
6.1.1
6.2
52
Published Work . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
Future Work . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
References
54
List of Figures
2.1
Roomba Create. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7
2.2
Bot’n Roll ONE C. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7
2.3
Circular GT.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7
2.4
Hemisson. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7
2.5
Mindstorms NXT.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8
2.6
SRV-1 Blackfin. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8
2.7
E-puck. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8
2.8
marXbot. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8
2.9
TraxBot. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9
2.10 TurtleBot. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9
2.11 Pioneer-3DX. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9
3.1
TraxBot dimensions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
3.2
Mechanical structure of the TraxBot. . . . . . . . . . . . . . . . . . . . . . 16
3.3
TraxBot’s main schematic. . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
3.4
OMNI-3MD I2C protocol frame. . . . . . . . . . . . . . . . . . . . . . . . . 19
3.5
Control architecture of the robotic platform. . . . . . . . . . . . . . . . . . 20
3.6
Sonars chain connection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
3.7
Encoder signals. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
3.8
XBee Module. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
3.9
Comparison of capacity and power of rechargeable batteries [Roo10].
. . . 23
3.10 TraxBot kinematics. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
4.1
ROS architecture example diagram. . . . . . . . . . . . . . . . . . . . . . . 27
4.2
ROS driver architecture diagram. . . . . . . . . . . . . . . . . . . . . . . . 30
xix
List of Figures
xx
4.3
Rxgraph topics and nodes provided by the TraxBot driver.
. . . . . . . . 31
4.4
Frame protocol. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
4.5
ROS driver architecture diagram - version 2. Comparison with the first
driver (Fig. 4.2), depicting the changes in red and what was unchanged in
green. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
4.6
Network topology example with multiple robots, sensors, teleoperation devices and applications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
5.1
Odometry square test evaluation.
a) Clockwise (CW) direction b) Counter-clockwise (CCW) direction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
5.2
Sonar calibration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
5.3
Mapping test. a) Sonars b) Laser. . . . . . . . . . . . . . . . . . . . . . . 43
5.4
Noisy range situations. a) Issue during rotations using lateral sonars b)
This figure illustrates why the front sonar is not used for mapping. . . . . . 44
5.5
Power consumption behavior. . . . . . . . . . . . . . . . . . . . . . . . . . 44
5.6
Driver Test. a) Real step test b) Stage simulation. . . . . . . . . . . . . . 45
5.7
TraxBot teleoperation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
5.8
Driver Test. a) Two robots with reactive navigation b) Mixed real and
virtual robots. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
5.9
TraxBot teleoperation devices. . . . . . . . . . . . . . . . . . . . . . . . . . 47
5.10 StingBot. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
5.11 StingBot operating with ROS driver. . . . . . . . . . . . . . . . . . . . . . 48
5.12 ROS driver messages turnaround time for the ROS driver - version 1. . . . 49
5.13 ROS driver messages turnaround time for the ROS driver - version 2. . . . 50
List of Tables
2.1
Comparative robot table. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
3.1
TraxBot hardware specifications. . . . . . . . . . . . . . . . . . . . . . . . 17
3.2
Traxbot total cost in euros. . . . . . . . . . . . . . . . . . . . . . . . . . . 25
xxi
Notation
Cs
Slipping offset.
Dl
Number of pulses sent by left wheel encoder.
Dr
Number of pulses sent by right wheel encoder.
Np
Total number of pulses per revolution read by encoders.
Rr
Radius of the robot.
Rw
Radius of the robot wheels.
θ
Angle of rotation between the current and the target position.
xn−1 Component x of the previous robot pose.
xn
Component x of the current robot pose.
yn−1
Component y of the previous robot pose.
yn
Component y of the current robot pose.
d
Distance between the current and the target position.
xxiii
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