OP3 Robot Operating System

Overview

This chapter explains installation and configuration of Robot Operating System(ROS) for ROBOTIS-OP3. Also, common ROS Packages and developed ROS Packages will be introduced.

What is ROS?

How to install ROS

• version : Kinetic
• Installation(Desktop-Full)

  Reference : ROS Installation - WIKI

  • For Linux Mint user
  • If you want to install ROS in Linux mint, you should type

  sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu xenial main" > /etc/apt/sources.list.d/ros-latest.list'

  instead of

  sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

  in the step of Setup your sources.list

SetUp

ROS Environment Setting

Reference : http://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment

ROS Network Setup

Reference : ROS Network Setup

Example Setting

1. Open the bash file with an editor to apply configuration.

   $ xed ~/.bashrc

2. Append below contents at the end of the .bashrc file.

   # Set ROS Kinetic
   source /opt/ros/kinetic/setup.bash
   source ~/catkin_ws/devel/setup.bash
   
   #### Set ROS Network ####
   # ROS Master(localhost)
   export ROS_MASTER_URI=http://10.41.0.1:11311
   
   # local ROS IP
   export ROS_IP=10.41.0.1

   Reference : In order to operate ROS in a network with multiple PCs, addresses of the ROS_MASTER_URI and the ROS_IP have to be replaced with the core PC's IP address and the remote PC's IP address respectively.

   Reference : If Hotspot is configured, use "10.42.0.1". Otherwise, use "localhost" instead of IP address.

   • ROS_MASTER_URI=http://localhost:11311
   • ROS_IP=localhost

3. Use below command to apply modified configuration or open a new terminal window to reload configuration.

   $ source ~/.bashrc

ROBOTIS ROS Packages for ROBOTIS-OP3

1. DYNAMIXEL SDK : SDK for DYNAMIXEL
2. ROBOTIS-Math : Basic calculation related to transformation and trajectory functions.
3. ROBOTIS-OP3 : ROS Packages running in the ROBOTIS-OP3.
4. ROBOTIS-OP3-Common
5. ROBOTIS-OP3-Demo
6. ROBOTIS-OP3-msgs
7. ROBOTIS-OP3-Tools
8. ROBOTIS-Utility

Additional ROS Package

1. face_detection

   • This ROS Package detects faces.
   • Link : https://github.com/ROBOTIS-GIT/face_detection
   • Message
     • Name : FaceCoord
     • Type : std_msgs/Int32MultiArray
     • Data : [fps, faces num, image width, image height, face id, tracking count, x, y, face_width, face_height, ...]

2. robot_upstart

   • This ROS Package is used to automatically execute ROS on startup.
   • Link : http://wiki.ros.org/robot_upstart
   • How to setup auto start

3. usb_cam

   • USB Camera
   • Link : http://wiki.ros.org/usb_cam
   • Additional Installation : The following package must be manually installed in order to modify camera parameters.

     $ sudo apt install v4l-utils