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Robotnik Kobuki Turtlebot 2 User Manual

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Kobuki Turtlebot II. User's Manual
TURTLEBOT II
User's Manual
Robotnik Automation, S.L.L.
Kinetic v1
1

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Summary of Contents for Robotnik Kobuki Turtlebot 2

  • Page 1 Kobuki Turtlebot II. User’s Manual TURTLEBOT II User’s Manual Robotnik Automation, S.L.L. Kinetic v1...
  • Page 2 3.1 Assembling the robot 3.2 Connectors 3.3 Swapping batteries 4. Installation and Configuration 4.1 Default User & Password 4.2 Installing from Robotnik’s USB Installer 4.3 ROS package installation 4.4 Upgrading the firmware 4.5 Additional components 4.5.1 RPLIDAR 4.5.2 Hokuyo URG04LX 4.5.3 WidowX Arm...

  • Page 3: Robot Description

    Kobuki Turtlebot II. User’s Manual 1. Robot description Kobuki Turtlebot 2 is a low-cost mobile research base designed for education and research on state of art robotics. With continuous operation in mind, Kobuki provides power supplies for an external computer as well as additional sensors and actuators. Its highly accurate odometry, amended by our factory calibrated gyroscope, enables precise navigation.

  • Page 4: Software Specification

    Kobuki Turtlebot II. User’s Manual ● Firmware upgradeable: via usb ● Sensor Data Rate: 50Hz ● Recharging Adapter: Input: 100-240V AC, 50/60Hz, 1.5A max; Output: 19V DC, 3.16A ● Netbook recharging connector (only enabled when robot is recharging): 19V/2.1A ● Docking IR Receiver: left, centre, right 1.3 Software Specification ●...

  • Page 5: Components List

    Kobuki Turtlebot II. User’s Manual 2. Components list 2.1 Basic components Kobuki base Mobile base. Kobuki Hardware It’s the hardware mounted over the base. It includes: ○ 16 Poles ○ 3 Disks ○ 2 Dummy pipes Battery The 4S1P battery 2200 mAh. It provides 3 hours of operational time. Kinect cable...

  • Page 6: Additional Components

    Kobuki Turtlebot II. User’s Manual Cable to power the Kinect sensor directly from the robot’s battery. Usb communication cable Cable to control the Kobuki base from a PC. Recharging adapter Standard adapter to charge the battery manually. 2.2 Additional components 3D sensor The Turtlebot 2 is intended to use a 3D sensor in order to navigate autonomously and map.
  • Page 7 Kobuki Turtlebot II. User’s Manual Turtlebot’s USB stick USB stick that contains all the manuals, and a recovery image of the provided netbook.

  • Page 8: Assembling The Robot

    Kobuki Turtlebot II. User’s Manual 3. Assembly instructions In this section will be described how to assembly the robot and some other useful information. This guide is based on the information available on the official site http://kobuki.yujinrobot.com​ . 3.1 Assembling the robot Please refer to the provided assembly guide.
  • Page 9 Kobuki Turtlebot II. User’s Manual Battery ● 4S1P, 2200 mAh​ . ​ D efault ​ B attery Pack Connector ● 4S2P, 4400 mAh. Extra Battery Pack Connector IO Port DB25 pin D-SUB Female connector that provides the following ​ f unctionality​ 4 x Digital Input 4 x Digital Output 4 x Analog Input...
  • Page 10 Kobuki Turtlebot II. User’s Manual...
  • Page 11 Kobuki Turtlebot II. User’s Manual Plug the 4S2P battery into the connector.
  • Page 12 Kobuki Turtlebot II. User’s Manual...
  • Page 13 Kobuki Turtlebot II. User’s Manual Offline Charging There is also an accessory for those who'd like to offline charge the robot (a pseudo continuous operation mode). Just directly connect... For both online/offline charging, it should take approximately 2 hours to recharge the 4s1p battery fully, and over 3 hours for the 4s2p one.

  • Page 14: Installation And Configuration

    User: turtlebot Password: 4.2 Installing from Robotnik’s USB Installer In this section will be described the installation of the system by using the USB installer provided by Robotnik. The provided usb contains either a Ubuntu 14.04 Installer with ROS and the Turtlebot 2 packages, or an image of the system provided (netbook or pc).
  • Page 15 Kobuki Turtlebot II. User’s Manual $> ​ s udo apt-get install ros-kinetic-astra* (​ f or the camera astra ​ ) $> ​ s udo apt-get install ros-kinetic-urg-node (​ f or the hokuyo lasers ​ ) Rosdep Install all dependencies of kobuki_node $>...
  • Page 16 Kobuki Turtlebot II. User’s Manual GROUP:="video" SUBSYSTEM=="usb", ATTR{idProduct}=="0405", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video" SUBSYSTEM=="usb", ATTR{idProduct}=="0406", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video" SUBSYSTEM=="usb", ATTR{idProduct}=="0407", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video" SUBSYSTEM=="usb", ATTR{idProduct}=="0408", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video" SUBSYSTEM=="usb", ATTR{idProduct}=="0409", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video" SUBSYSTEM=="usb", ATTR{idProduct}=="040a", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video"...

  • Page 17: Upgrading The Firmware

    The installation of additional components like 2D lasers, arms, ... requires some additional configuration efforts. Create a catkin workspace​ 2. Installation of Robotnik alternative Turtlebot repository https://github.com/RobotnikAutomation/turtlebot b. Clone the repository into the workspace (catkin_ws/src) and compile it c. Add the following into the .bashrc source ~/catkin_ws/devel/setup.bash...
  • Page 18 Kobuki Turtlebot II. User’s Manual 3. To launch the sensor: a. > roslaunch turtlebot_bringup rplidar.launch...
  • Page 19 Kobuki Turtlebot II. User’s Manual 4.5.2 Hokuyo URG04LX Dependencies: *ros-kinetic-urg-node Set the user permissions: > sudo usermod -a -G dialout turtlebot Add the following variable environments into the .bashrc and reload it: Configuration with the sensor on the ​ t op​ plate: export TURTLEBOT_TOP_PLATE_DEVICE=urg04lx export TURTLEBOT_3D_SENSOR=no3d Configuration with the sensor on the ​...
  • Page 20 Kobuki Turtlebot II. User’s Manual...
  • Page 21 Kobuki Turtlebot II. User’s Manual 4.5.3 WidowX Arm Dependencies: *ros-kinetic-arbotix* Set the user permissions: > sudo usermod -a -G dialout turtlebot Add the following variable environments into the .bashrc and reload it: export TURTLEBOT_TOP_PLATE_DEVICE=widowx Create the udev rule: > udevadm info -a -n /dev/ttyUSBXX (device connected to the arm) Get the information of the attribute ATTRS{serial}=="A904NK42".
  • Page 22 Kobuki Turtlebot II. User’s Manual 4.5.4 PhantomX Reactor Arm Dependencies:...
  • Page 23 Kobuki Turtlebot II. User’s Manual *ros-kinetic-arbotix* Set the user permissions: > sudo usermod -a -G dialout turtlebot Add the following variable environments into the .bashrc and reload it: export TURTLEBOT_TOP_PLATE_DEVICE=reactor_wrist Create the udev rule: > udevadm info -a -n /dev/ttyUSBXX (device connected to the arm) Get the information of the attribute ATTRS{serial}=="A904NK42".
  • Page 24 (arbotix_python/arbotix_driver) phantomx_reactor_controller (phantomx_reactor_arm_controller/phantomx_reactor_parallel_motor_j oints.py) robot_state_publisher (robot_state_publisher/state_publisher) rviz (rviz/rviz) ROS_MASTER_URI=http://robotnik-GE70:11311 core service [/rosout] found process[arbotix-1]: started with pid [16444] process[phantomx_reactor_controller-2]: started with pid [16445] process[robot_state_publisher-3]: started with pid [16446] process[rviz-4]: started with pid [16447] [INFO] [WallTime: 1496152050.354436] Started ArbotiX connection on port /dev/ttyUSB0.
  • Page 25 Kobuki Turtlebot II. User’s Manual 'arm_4_joint', 'arm_5_joint'] position: [0.0051132692929521375, -0.02556634646476069, 0.02556634646476069, 0.0051132692929521375, -0.02556634646476069, -0.006135923151542565, -0.010226538585904275, -0.010226538585904275] velocity: [-0.042620525427073536, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] effort: [] Run the rqt_publisher tool to set the position of the joints: > rosrun rqt_publisher rqt_publisher 4.5.5 Hokuyo UST10LX Dependencies: *ros-kinetic-urg-node...
  • Page 26 Kobuki Turtlebot II. User’s Manual IP: 192.168.0.1 User/Pass: admin/R0b0tn1K SSID pass: R0b0tn1K...

  • Page 27: First Steps

    Kobuki Turtlebot II. User’s Manual 5. First steps In this section will be described the procedure to start and test the main parts of the robot. 5.1 Launching Kobuki First, start minimal.launch to bring up Kobuki's basic software (bootstrap layer). We use the argument --screen to get verbose output in the terminal.
  • Page 28 Kobuki Turtlebot II. User’s Manual Testing the gyro $> rosrun kobuki_testsuite test_gyro.py Testing the LEDs $> rosrun kobuki_testsuite test_led_array.py Testing sounds $> rosrun kobuki_testsuite test_sounds.py...
  • Page 29 Kobuki Turtlebot II. User’s Manual 5.3 Launching the RGBD camera The openni_kinnect is the stack that contains the Kinect’s drivers. It is recommended to connect the Kinect’s USB into a USB 2.0 slot. Open a terminal and launch the openni node. $>...
  • Page 30 Kobuki Turtlebot II. User’s Manual It is necessary to select a topic, for example: /camera/rgb/image_color...
  • Page 31 Kobuki Turtlebot II. User’s Manual And select in Fixed Frame for example: camera_depth_frame In order to see a point cloud, we have to add a pointcloud2 and select as topic: camera_depth_registered_points...
  • Page 32 Kobuki Turtlebot II. User’s Manual 5.3 Controlling the Kobuki robot with a joystick Install joystick drivers and turtlebot teleop: $> sudo apt-get install ros-kinetic-joystick-drivers $> sudo apt-get install ros-kinetic-ps3joy $> sudo apt-get install ros-kinetic-turtlebot-teleop $> sudo apt-get install sixad 5.3.1 PS3 gamepad It’s necessary to make some changes in launch file: In /opt/ros/kinetic/share/turtlebot_teleop/launch/ps3_teleop.launch Change the line remap cmd_vel with the following line:...
  • Page 33 Kobuki Turtlebot II. User’s Manual Then execute joystick node: $> rosrun ps3joy ps3joy_node.py Unplug the joystick and press pairing button. Execute turtlebot_teleop: $> roslaunch turtlebot_teleop ps3_teleop.launch Moving left analog joystick and L1 pressed kobuki should move now. 5.3.2 PS4 gamepad It’s necessary to make some changes in the launch file (this assumes that you are modifying the launch file from the original ps3_teleop.launch instead of the one used for PS3):...
  • Page 34 Kobuki Turtlebot II. User’s Manual After conducting the above changes, save the launch file as ps4_teleop.launch. When using the PS4 gamepad for the first time, you can pair your system with the gamepad wirelessly over Bluetooth. The ​ f irst​ method is conducted via the terminal window.
  • Page 35 Kobuki Turtlebot II. User’s Manual 6. Netbook cable modification ATTENTION: This mod is OPTIONAL and may void the warranty of the netbook. This mod is made under responsibility of the client. Here you find the instructions to make a custom cable to power your netbook through the Kobuki base.
  • Page 36 Kobuki Turtlebot II. User’s Manual - Strip the cables and the the cable sheath. Pass the heat shrink tubes (first the big one) and match cables as indicated. - Then solder the cables and heat the shrink tubes. Repeat this with the other cable. - Test both cables.

  • Page 37: Appendix 1 - Setting Up Arbotix Board

    Kobuki Turtlebot II. User’s Manual Appendixes Appendix 1 - Setting up Arbotix board 1. Download Arduino ide from​ ​ h ttps://downloads.arduino.cc/arduino-1.0.6-linux64.tgz wget​ ​ h ttps://downloads.arduino.cc/arduino-1.0.6-linux64.tgz 1. Extract to a folder. 2. Download firmware archives from https://github.com/trossenrobotics/arbotix/archive/master.zip wget ​ h ttps://github.com/trossenrobotics/arbotix/archive/master.zip 3.

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