cs 309: autonomous robots fri ijustinhart.net/files/slides/2020_spring_cs309/lec... · do this...
TRANSCRIPT
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CS 309: Autonomous Robots FRI I
Starting the Robot
Instructor: Justin Hart
http://justinhart.net/teaching/2020_spring_cs309/
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These commands will all start to make sense in the next couple of weeks.
For now, we’re just going throughthe basic how-to
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● For now log in as “fri”● Get the password from the peer-mentors
● Open several terminals
● cd catkin_ws; source devel/setup.bash in each.
System Startup
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System Startup – run “roscore”
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System Startup – roslaunch the robot
● Note that this is for the simulated robot● You’ll need v2 or v4.launch for the real robot
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● A screen will pop up asking what floor you are on.
● The AI floor is the 3rd floor, and you are almost certainly there at this step of the process.
Pick your floor
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Gazebo
● When running the simulated robot, Gazebo will launch● It will not run when the real robot runs
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rviz – Runs for real or simulated robots
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Next, you want to move the robot
● The next step is to move the robot into the hallway, where you want to start.
● I generally do this before localizing the robot, just to get it out of people’s way.
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System Startup
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System Startup
● Slow down the robot by hitting z, before attempting to drive● The default speed is way too fast
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Next, you want to move the robot
● The robot will move quicker than you expect.
● Press the ‘k’ button to stop its motion.
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● Localize the robot.
● Hit “2D Pose Estimate”
● Click on where the front of the robot is on the map in rviz (the screen is on the BACK), and drag the cursor FORWARD.
– Note that the robot graphic may not be there, because the real robot does not know where it is yet!!
● A green arrow will appear showing what you believe the robot’s pose to be.
System Startup
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● The system uses a probabilistic method to find the robot’s pose, so your localization just aids in this process.
● Instruct the robot to move a bit by using “2D Nav Goal”
● The robot’s localization will improve as it moves.
● 2D Nav Goal works the same as “2D Pose Estimate”
System Startup
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bwi_tasks visit_door_list
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● The robot will now start driving around visiting the doors in the hallway.
System Startup
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Pick a BWIBot
• V2 • V4
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V2 Startup
● Find the back of the robot– Yes, the screen faces the BACK
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V2 Startup
● The switch should be in the “charge” position when you find the robot.
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V2 Startup
● Set the switch to the neutral position
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V2 Startup
● Unplug the charging cable
● Set the switch to the “battery” position
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V2 Startup
● Go to the front of the robot
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V2 Startup
● Press the green button.– It should light up.
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V2 Startup● Press the yellow button.
– Yellow button and blue indicator light should light.
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V2 Startup
● Hit the power button on the laptop
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V4 Startup
● The V4 is different– This is actually the front of the robot.
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V4 Startup
● Disconnect the power supply.– First, undo the screws on the connector
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V4 Startup
● Disconnect the power supply.– Then disconnect the plug.
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V4 Startup
● Locate the Emergency Stop and Power Button– On the top at the front of the unit on the V4
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V4 Startup
● The Emergency Stop may be depressed– If it is, gently twist it to the right and it will
lift.
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V4 Startup
● Press the power button.
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V4 Startup
● It will illuminate.– This indicates that the robot is now on.
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V4 Startup
● Reach back to the right inside the chasis.– You can feel the power button to turn it on.
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V4 Startup
● Note that the V4 has a wireless keyboard– If the batteries are dead, obtain assistance
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System Startup
● Select Ubuntu on this screen using the arrow keys and hit “Enter” or wait for boot
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System Startup● Log in as FRI
– Using the FRI password. A mentor can help you.
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● From here, both the robots and simulator all work the same● Except for this detail
● roslaunch bwi_launch simulation_v2.launch
● roslaunch bwi_launch segbot_v2.launch
● roslaunch bwi_launch segbot _v4.launch
System Startup
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● Do this after the BWIBot demo next week!!
● Let the robot visit 3 doors.
● Stop the robot by hitting ctrl-c in the “visit door list” terminal.
– This involves physically chasing down the robot.
– I wish it didn’t.
● Stop the other processes, segbot_v2.launch and roscore with ctrl-c.
● Shutdown the computer.
● Power down the robot by doing the power-up process in reverse.
– Be sure to plug it back in!
Your first homework
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● For your homework, you will do this on a real robot.
● These screenshots come from doing this in simulation.
● Installing the simulators is easy if you want to try.– Installation instructions for BWI here:
● https://github.com/utexas-bwi/bwi
– Tutorials on running the robot & simulators here:
● https://github.com/utexas-bwi/documentation/wiki/Software
Your first homework
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Developmental Robotics
• Emulate human cognitive processes• Better understanding of the cognitive process
• Robot capabilities based on human capabilities
• Eventual goal• Build robots which learn like people do
• Develop human-like AI