TIAGO Robot Sensor parameter description manual translation, tiago Robot

TIAGO Robot Sensor parameter description manual translation, tiago Robot

The new robot in the Teaching and Research Section needs to be understood by the members in the group. The manual contains a lot of English content. Here are some important articles:

SENSOR:

As an input device, Tiago is fully aware of the surrounding environment through various sensors. The sensors are equipped with the following types:

1. laser range finder: 0.05-10 m 15Hz

2, Sonar: 0.03-1 m 40 kHz

3. Inertial Measurement Sensor: MPU 6050

4. stereo microphone

5. motor current feedback sensor

6. Torque Sensor

7, RGB-D depth camera

Mobile pedestal:

The moving pedestal of TIAGo is equipped with a differential drive mechanism, which includes onboard computers, batteries, power connectors, laser range finder, three rear sonar, user panel, service panel, and two Wi-Fi networks, to ensure wireless connection.

In addition, the TIAGo version with a docking station has a charging board in front.

Important physical parameters:

The maximum weight of the manipulator is 2 kg, and the finger load is 1 kg (highlighted, overweight and damaged robots! Difficult to repair !)

Trunk height: 110-145

Maximum moving speed: 1 m/s

Header:

TIAGo's head is equipped with a pitch motor, I .e. 2 DoF and comes with a stereo microphone, speaker and RGB-D camera. In addition, there is a flat surface with a mount point on the top of the head to allow users to add new sensors or devices.

Note that when a new device is added, the header payload is0.5 kg. Figure 18 shows the position of each part and two joints of the pitch mechanism.

As the main direction of this lab is computer vision, please paste the detailed parameters of RGBD camera

 

Development computer system installation:

Use the USB driver provided by Tiago to create the following default users:

Root Password palroot

Pal password pal

Aptuser password palaptuser

Robot Built-in Computer:

The TIAGo computer name is the tiago-0c, where 0 needs to be replaced by the serial number of the robot. For clarity, here we will use a tiago-0c to refer to TIAGo's computer name.

Ssh for linking robots

 

ssh pal@tiago-0c

 

 

 

The default user is the same as above.

File System:

TIAGo computers provide protection against power failures that may damage the file system.

To use the File System for read/write, perform the following operations:

 

root@tiago-0c:~# rwRemounting as rw...Mounting /ro as read-writeBinding system files...root@tiago-0c:~# chroot /ro

 

 

 

The rw Command Re-mounts all partitions as read/write. Then there is a chroot to/ro. We have the same system as the default, but all are writable. All executed changes will continue. To return to the previous status, perform the following operations:

 

root@tiago-0c:~# exitroot@tiago-0c:~# roRemount /ro as read onlyUnbinding system files

 

The first exit command is returned from chroot. Then, the ro script remounts the partition by default.

Built-in DNS:

The control computer has an internal lan DNS server for TIAGo with the domain name reem-LAN. This DNS server is used by all computers connected to the LAN.

 

When you add a computer to an internal LAN (for example, using an Ethernet connector), you can use the addLocalDns command to add it to an internal DNS. (Remarks, unavailable for the moment, do not expand)

Computer development:

The operating system used in the SDE development computer is based on the Linux Ubuntu 14.04 LTS release. Any documentation related to this specific Linux release applies to SDE. This article only points out the differences between pal sde and Ubuntu 14.04.

Configuration Requirements:

We recommend that you use a computer with eight CPU cores. We recommend that you use a powerful graphics card with a resolution of at least X pixels for a better user experience when using visualization tools such as rviz and Gazebo simulators. The development computer ISO provides support for Nvidia cards.

When the kernel of the computer is upgraded, the PAL robot cannot ensure correct support for other graphics cards.

When developing ROS-based robot applications, the rosmater running on the robot's computer and the development computer running the ROS node are usually connected to the robot's rosmaster. This is achieved by setting the following environment variables on each terminal of the development computer running the ROS node:

 

export ROS_MASTER_URI=http://tiago-0c:11311

 

Note that to successfully exchange ROS messages between different computers, each of them must be able to parse the host names of other computers. This means that the robot computer needs to be able to parse the host names of any development computer, and vice versa.

Otherwise, ROS messages cannot be correctly exchanged and unexpected behavior occurs. Before you start using a development computer that runs the ROS node pointing to the rosmaster of the robot, perform the following checks:

ping tiago-0c

Make sure that the ping command is sent to the robot's computer. Then do the same thing from the robot:

ssh pal@tiago-0cping devel_computer_hostname

If the ping fails to reach the development computer, add the host name to the robot's local DNS. Otherwise, you can export the environment variable ROS_IP-the IP address of the development computer visible to the robot.

For example, if you set the robot as an access point and connect the development computer to it, and the IP address 10.68.0.128 has been provided (Calculated using ifconfig ), use the following command in all terminals used to communicate with robots:

export ROS_MASTER_URI=http://tiago-0c:11311export ROS_IP=10.68.0.128

All the ROS commands sent will use the computer's IP address instead of the host name.

We can see that there are two main software blocks: Ubuntu, Xenomai with Real-Time Kernel patches, and Orocos-based robot middleware for real-time and secure inter-process communication.