1 2 Previous Next 18 Replies Latest reply on Sep 26, 2017 4:01 AM by MeitavKleinfeld

    Euclid ros nodes

    Chrimo

      Hello community,

      I'm evaluating the brandnew Euclid system with ros for some days now.

      The camera seems to be supported well, but I'm missing nodes for GPS and all other additional sensors.

      Normally, I'm able to write own nodes, but I miss detailed informations and specs "how to access" additional sensors.

       

      Suggestions or samples welcome

      Thanks in advance

       

      Cheers

      Chrimo

        • 1. Re: Euclid ros nodes
          MartyG

          This post contains details on accessing the sensors with commands.

           

          Re: How to use gps and new sensors in Euclid: compass, barometer, altimeter, humidity, etc

          • 2. Re: Euclid ros nodes
            Chrimo

            ReHi,

            I know this commands, but for building ros nodes it is useless.

            Piping output to file or stdout and parse it from program is not very comfortable.

            Sorry.

             

            I'd like to find details to access sensors directly from python code to built ros nodes.

            • 3. Re: Euclid ros nodes
              MartyG

              Someone else wanted to access nodes with ROS and were told this:

               

              Re: Euclid IDE in a Visual C# project

              • 4. Re: Euclid ros nodes
                Chrimo

                ReHi,

                 

                I need to access the Euclid hardware sensors directly and I did not need another UI. Euclid has everything I need, but no docs/specs to access hardware sensors in python or C.

                FYI: Intel Euclid runs Ubuntu Linux 16.04 native on new Intel hardware and I need access to the new hardware features.

                 

                Marketing says:

                Environmental sensors including inertial measurement unit, barometric pressure sensor, GPS, and proximity sensor

                Audio: Low Power, Dual I2S interface, Speaker 1W Mono

                Microphone: D-MIC, X3, Noise Cancellation

                GPS: GNS, GLONASS, Beidou, Galileo, QZSS, WAAS, EGNOS

                 

                Now my question:

                How can I access this sensors directly ?

                e.g

                I2C addresses of sensors

                or any other (for me) unknown port/mem-io

                 

                Cheers

                Chrimo

                • 5. Re: Euclid ros nodes
                  Intel Corporation
                  This message was posted on behalf of Intel Corporation

                  Hi Chrimo,
                   
                  Thanks for your interest in the Intel Euclid Technology.
                   
                  I have been looking for the information you need, however, at this moment I haven’t found useful information that may help you. I’ll continue investigating and I’ll contact you back as soon as I have updates.
                   
                  I’ll appreciate your patience during the meantime.
                   
                  Regards,
                  -Yermi A.
                   

                  • 6. Re: Euclid ros nodes
                    Chrimo

                    Hi Yermi,

                     

                    Thanks for your response and watch this:

                    https://discourse.ros.org/t/intel-euclid-irobot-explorer/2569

                     

                    Still playing with the amazing Intel Euclid Box @Home and waiting for news from Intel ;-)

                     

                    Cheers

                    Chrimo

                    • 7. Re: Euclid ros nodes
                      MeitavKleinfeld

                      Hi Chrimo,

                       

                      Just wanted to let you know that I'm looking into it.

                      Although I personally haven't had a chance to work with the GPS, I know one of the other developers had, so I'll try to see if there are any code samples for it.

                      If not though, I know for a fact that the drivers are there so reading from /sys/class/<some_sensor_path> will work. I'll find out what that path is.

                       

                      Regards,

                      Meitav

                      Intel Euclid Development Team

                      • 8. Re: Euclid ros nodes
                        MeitavKleinfeld

                        Hi Chrimo,

                         

                        After further checking, the first solution that MartyG provided is the only one that we have implemented for the GPS at this time.

                        It's possible to make a ros node to parse the GPS measurements from a file and publish them to a topic, then subscribe to that.

                        It is mounted on /sys/class/gpio/gpio415/ but I don't think you can read any actual messages there.

                        Please let me know about the additional sensors you wanted to use, and of course if you have any suggestions etc we'll be happy to hear about it!

                         

                        Regards,

                         

                        Meitav

                        Intel Euclid Development Team

                        • 9. Re: Euclid ros nodes
                          Chrimo

                          Hi Meitav,

                           

                          my Euclid do not have you suggested structures:

                           

                          euclid@EUCLID_7187:~$ ls /sys/class/gpio/

                          export   gpio398      gpiochip318  gpiochip397  unexport

                          gpio366  gpiochip224  gpiochip373  gpiochip456

                           

                          Btw:

                          GPS can wait, I'm more interested in:

                           

                          magnet compass,

                          barometric pressure sensor,

                          proximity sensor

                          audio out via internal speaker

                          microphone input

                           

                          Thanks for your fast response and greetings from Hamburg/Germany

                           

                          Cheers

                          Chrimo

                          • 10. Re: Euclid ros nodes
                            MeitavKleinfeld

                            Hi Chrimo,

                             

                            First off I apologize for the late reply, I was away for the past few days.

                             

                            You can export gpio415 by doing this:

                             

                            chmod 777 /sys/class/gpio/export

                            echo 415 > /sys/class/gpio/export

                            chmod 777 /sys/class/gpio/gpio415/*

                            echo out > /sys/class/gpio/gpio415/direction

                             

                            Again, I'm not sure if this will have anything that will help you directly get the measurements from the gps, but it won't hurt to check it out.

                             

                            As for the magnetometer, barometric pressure sensor, proximity sensor - the solution suggested by MartyG earlier (with the sensorhub_client binary) is the only one we have implemented so far. We have had intentions of implementing something more accessible such as a ros node for all of those, but since those haven't been very demanded features, we have it at a lower priority at the moment. I will bring this up though with the rest of the team and hopefully we'll be able to bring its priority up in our development backlog.

                             

                            For the speakers, you can use it natively, it's registered as an internal speaker, so you can use it much like you would on any other machine. You can try out the different modules suggested in the python wiki: Audio - Python Wiki

                             

                            Finally for the mic, it should be recognized as a default mic for ubuntu, meaning that you can use any library that streams input from the mic should work for you.

                             

                            Regards,

                            Meitav

                            Intel Euclid Development Team

                            • 11. Re: Euclid ros nodes
                              Chrimo

                              Hello Meitav,

                               

                              I will check GPS usage later this evening, when at home and outside ;-)

                              During the last days I've tried a lot of new projects with the Euclid device. I'm trying to port all my old robots running at NUCi5/16GB and to new system, but it's hard to mis sensors.

                               

                              BTW: I found HDMI audio, but it isn't the builtin audio device and speaker/micro. I was not able to make it work and doing some voice recognition or play any sounds ;-(

                              I try to find out, how do you do it with your nice webui, when starting scenarios...

                               

                              Thanks for your friendly response and I'm waiting for improvements and new ros nodes. I expect these guys will have the same questions: Clearpath Robotics Announces TurtleBot Euclid - Clearpath Robotics

                               

                              Cheers and greetings from Hamburg

                              Chrimo

                              • 12. Re: Euclid ros nodes
                                MeitavKleinfeld

                                Hi Chrimo,

                                 

                                We had some old demo with the speaker/micro, which was able to comprehend commands like Amazon's home device. I will try and find it.

                                Personally I haven't had any work with the mic or speaker myself, so I will have to do some digging what I can do with it, and I'll let you know what I find.

                                 

                                We're always open to hear more about features you want and features that are unused, so if there's any sensor you're missing, or isn't working as well as you want, or anything along those lines, feel free to share that with us.

                                 

                                Also, if you got any working projects with Euclid so far, feel free to show them off here at the community forums. Other makers and developers might draw inspiration, which will help making the community grow. We're really interested in seeing the Euclid community grow.

                                 

                                Regards,

                                Meitav

                                Intel Euclid Development Team

                                • 13. Re: Euclid ros nodes
                                  Chrimo

                                  Hi Meitav,

                                   

                                  I can try to publish my MockTurtleBotE as small project next week with detailed informations.

                                   

                                  Intel Euclid + iRobot Roomba 880

                                  Learning by doing project using all parts of ros, especially for beginners.

                                  -adding new source packages from git

                                  -add packages from repository

                                  -first steps with autonomous home robots

                                  -create maps of your home environment

                                   

                                  -trying to use new sensors of Euclid ;-)

                                   

                                  Cheers

                                  Chrimo

                                  • 14. Re: Euclid ros nodes
                                    MeitavKleinfeld

                                    Nice!

                                     

                                    It definitely sounds like something we'd like to see, so if you find an opportunity to show it that would be very neat (both for us at the dev team and for the rest of the community).

                                    I have uploaded tutorials for using Euclid with a turtlebot to run RTABMAP and GMapping, those might come in handy if you need to map your home environment.

                                     

                                    Regards,

                                    Meitav

                                    Intel Euclid Development Team

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