robo7

This project will include all software for the autonomous robot.

Clone base-project files from git

cd
git clone https://github.com/KTH-RAS/ras_install.git
cd ras_install/scripts
./install.sh

Motor

$$ angular Velocity = encoderCount \div CPR \times 2\pi \times freqency $$

CPR (counts per revolution) = 897.96
frequency = 121

range of motor input is -100 ~ 100

• left motor serial number: 469741 positive: forward

• right motor serial number: 469412 negative: forward

encoder output range -30 ~ 30 therefore, estimated angular velocity -25.387 ~ 25.387

• wheel distance : 23.8 - 2.07 = 21.73 cm

• wheel diameter : 9.76 cm

Connect to NUCs

Mobile NUC

- ssh ras17@192.168.1.202

Stationary NUC

- ssh ras27@192.168.1.207

Dead reckoning

Computer Vision

// install opencv
sudo apt-get install ros-kinetic-vision-opencv