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tutorials:advanced:bullet_world_robot [2015/09/17 15:01] – gkazhoya | tutorials:advanced:bullet_world_robot [2015/09/17 15:54] (current) – [Boxy Prolog description] gkazhoya | ||
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The first thing that we actually need is the robot, more precisely, its URDF description. | The first thing that we actually need is the robot, more precisely, its URDF description. | ||
- | For Boxy it is located in a repo on Github, so let's clone it into our ROS workspace: | + | For the quadrotor |
<code bash> | <code bash> | ||
+ | sudo apt-get install ros-YOUR-ROS-DISTRO-hector-quadrotor-description | ||
+ | rospack profile | ||
+ | # or | ||
cd ROS_WORKSPACE_FOR_LISP_CODE | cd ROS_WORKSPACE_FOR_LISP_CODE | ||
cd src | cd src | ||
- | git clone https:// | + | git clone https:// |
cd .. | cd .. | ||
catkin_make | catkin_make | ||
</ | </ | ||
- | CRAM takes the URDF descriptions of the robots from the ROS parameter server, i.e., you will need to upload the URDFs of your robots as a ROS parameter. For Boxy there is a launch file doing that, you will find it here: | + | CRAM takes the URDF descriptions of the robots from the ROS parameter server, i.e., you will need to upload the URDFs of your robots as a ROS parameter. For our robot there is a launch file doing that, you will find it here: |
<code bash> | <code bash> | ||
- | roscd iai_boxy_description/launch/ && ls -l | + | roscd hector_quadrotor_description/launch/ && ls -l |
</ | </ | ||
- | It's called '' | + | It's called '' |
<code xml> | <code xml> | ||
< | < | ||
- | | + | |
- | <arg name="urdf-path" | + | <param name="use_gui" |
- | + | ||
- | <param | + | <node name=" |
- | name="robot_description" | + | |
- | | + | |
</ | </ | ||
</ | </ | ||
- | As we will need to know the names of the TF frames | + | It includes a robot state publisher to publish the TF, we will need it to know the names of the TF frames |
+ | It also starts Rviz: | ||
<code bash> | <code bash> | ||
- | roslaunch | + | roslaunch |
</ | </ | ||
(It also starts a GUI to play with the joint angles but let's ignore that.) | (It also starts a GUI to play with the joint angles but let's ignore that.) | ||
- | Let's check if the URDF's on the parameter server using RViz: | + | Let's check if the URDF's on the parameter server using RViz. For that, in RViz click: |
<code bash> | <code bash> | ||
- | rosrun rviz rviz | ||
Add -> RobotModel -> Robot Description: | Add -> RobotModel -> Robot Description: | ||
Add -> TF | Add -> TF | ||
</ | </ | ||
- | To be able to see the TF frames choose '' | + | To be able to see the TF frames choose '' |
{{ : | {{ : | ||
- | |||
===== Directory / file setup ===== | ===== Directory / file setup ===== | ||
- | Now let's setup a directory structure for our own packages: a directory (repo) and the metapackage inside: in the '' | + | Now let's setup a directory structure for our own packages: a directory (repo) and the metapackage inside: in the '' |
<code bash> | <code bash> | ||
- | mkdir cram_boxy | + | mkdir cram_quadrotor |
- | catkin_create_pkg | + | catkin_create_pkg |
</ | </ | ||
Line 73: | Line 75: | ||
<code cmake> | <code cmake> | ||
cmake_minimum_required(VERSION 2.8.3) | cmake_minimum_required(VERSION 2.8.3) | ||
- | project(cram_boxy) | + | project(cram_quadrotor) |
find_package(catkin REQUIRED) | find_package(catkin REQUIRED) | ||
catkin_metapackage() | catkin_metapackage() | ||
</ | </ | ||
- | The first ROS package we will create will be the Prolog description of our robot. We will call it '' | + | The first ROS package we will create will be the Prolog description of our robot. We will call it '' |
- | Go back to the root of your '' | + | Go back to the root of your '' |
<code bash> | <code bash> | ||
cd .. | cd .. | ||
- | catkin_create_pkg | + | catkin_create_pkg |
</ | </ | ||
- | Now let's create the corresponding ASDF file called '' | + | Now let's create the corresponding ASDF file called '' |
<code lisp> | <code lisp> | ||
;;; You might want to add a license header first | ;;; You might want to add a license header first | ||
- | (defsystem cram-boxy-knowledge | + | (defsystem cram-quadrotor-knowledge |
:author "Your Name" | :author "Your Name" | ||
:license " | :license " | ||
Line 100: | Line 102: | ||
:components | :components | ||
((:file " | ((:file " | ||
- | | + | |
</ | </ | ||
- | Now create the corresponding '' | + | Now create the corresponding '' |
<code lisp> | <code lisp> | ||
Line 110: | Line 112: | ||
(in-package :cl-user) | (in-package :cl-user) | ||
- | (defpackage cram-boxy-knowledge | + | (defpackage cram-quadrotor-knowledge |
(:use #: | (:use #: | ||
#: | #: | ||
Line 116: | Line 118: | ||
</ | </ | ||
- | Also, an empty '' | + | Also, an empty '' |
- | Now, let's compile our new packages and load them through the REPL: | + | Now, let's compile our new packages |
<code lisp> | <code lisp> | ||
CL-USER> , | CL-USER> , | ||
ros-load-system | ros-load-system | ||
- | cram_boxy_knowledge | + | cram_quadrotor_knowledge |
- | cram-boxy-knowledge | + | cram-quadrotor-knowledge |
</ | </ | ||
Line 132: | Line 134: | ||
Now, let's describe our robot in Prolog, such that we could do some reasoning with it. | Now, let's describe our robot in Prolog, such that we could do some reasoning with it. | ||
- | We fill in the file '' | + | We fill in the file '' |
As can be seen from the TF tree, our robot has 3 camera frames, 1 depth and 1 RGB frame from a Kinect camera, and an RGB frame from a Kinect2 camera. | As can be seen from the TF tree, our robot has 3 camera frames, 1 depth and 1 RGB frame from a Kinect camera, and an RGB frame from a Kinect2 camera. |