3 Replies Latest reply on Aug 14, 2017 3:01 PM by McCool Branched from an earlier discussion.

    SAWR stack and Euclid

    McCool

      I'm working on porting my SAWR stack (see https://github.com/01org/sawr) to the Euclid.   This is a simplified turtlebot stack using gmapper, amcl, move-base, etc.   I'm using a Kobuki base for now (see below) but intend to update the SAWR hardware design to support a Euclid soon.  Trying to integrate it into the web console as well...

       

      A few stretch goals:

      1. Support "tilted" camera views so that person-tracking and 2D SLAM using gmapper/cartographer can work simultaneously from a camera near the floor.  I've already confirmed that person-tracking works with the camera tipped slightly like this.  For SLAM to work you need to extract scanlines from somewhere else than the middle of the image when doing the laser-scan conversion... ideally you would use something like RGB-D for SLAM rather than gmapper, but I'll only do that once I get gmapper or cartographer working... it would probably run in parallel anyway, since a 2D map is handy.

      2. Support wired networking with other computers on the same robot (like the NUC you see here... although, for the record, based on the fact I can do it with an UP Board, I'm sure I can do SLAM with just the Euclid).  Basically, the Euclid connects to a hub, and the hub has a gigabit ethernet adapter on it.   Longer run, I would love to see Ethernet-over-USB on the OTG port of the Euclid so I can dispense with the dongle.

      3. Secondary RealSense camera.  I also have an SR300 to fill in the dead zone in front of the robot.  It's tipped down, and complements the view of the camera on top in both range and angle.  I've confirmed that the normal librealsense driver can drive both cameras simultaneously at their full framerates.   The basic idea is to use this camera to detect obstacles immediately in front of the robot.  Putting the Euclid towards the back of the robot as shown helps minimize the deadzone due to its minimum range.

       

      Final note: check out my TurboVNC notes

      This works great on the Euclid and even allows you to run 3D graphics like rviz remotely.  It has much better performance than tightvnc; I don't know why it's not the default in Ubuntu but, oh well...

      2017-06-07 14.15.25.jpg