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--- drc_hubo_hokuyo_scan [2016/11/01 16:50] – created blakehament
+++ drc_hubo_hokuyo_scan [2017/04/04 08:59] (current) – blakehament
@@ Line 1: / Line 1: @@
 ====== DRC Hubo Hokuyo Scan ======
-**Author:** Blake Hament Email: [[blakehament@gmail.com]] \\
+**Author:** [[:unlv_hament|Blake Hament]] Email: [[blakehament@gmail.com]] \\
 **Date:** Last modified on 11/01/16 \\
 **Keywords:** tutorial, Hubo, Hokuyo, laser, scan, ROS \\
@@ Line 7: / Line 7: @@
 This tutorial will walk you through the commands necessary to capture a 3D depth scan of the environment using the Hokuyo sensor on the DRC Hubo 2 platform.
-{image}
+{{::screenshot_from_2016-10-27_17_28_50.png|}}
 ===== Motivation and Audience =====
@@ Line 26: / Line 26: @@
 ===== Parts List and Sources =====
-DRC Hubo 2
+This DRC Hubo 2 is a state-of-the-art humanoid platform used in robotics research labs across the globe. It was developed by Dr. Jun Ho Oh's team at Korea Advanced Institute for Science and Technology (KAIST). Depth scans are performed using the Hokuyo UTM-30LX-01.
 ===== Theory of Operation =====
+{{::carlos_costa_laser_scan.png|}} \\
+Image from DOI: 10.1016/j.robot.2015.09.030
-===== Operation =====
+In the image above, the red lines represent individual depth scans performed by the robot's laser rangefinder. The laser rangefinder is tilted at various angles to sweep the environment with 2D scans, and then the 2D scans are combined into a cohesive 3D point cloud. Instead of a wheeled vehicle, our robot platform will be the DRC Hubo 2. The specific laser range-finding device used is the Hokuyo UTM-30LX-01.
-To login to Vision Computer
+===== Operation =====
-Login: root
+==== Vision Computer ====
-PW: control
+First, login to the Vision Computer located in Hubo's upper torso.
-*If display is freaking out, change resolution one down
+	Login: root
+	PW: control
-$ cd catkin_ws/devel/
-$ source setup.bash
-$ cd ..
-$ roscore
+You may need to adjust the display resolution using xrandr
-*New terminal
+	$ xrandr
+Next, source your terminal window and start a ROS core.
-$ cd catkin_ws/devel/
+	$ cd catkin_ws/devel/
-$ source setup.bash
+	$ source setup.bash
-$ cd ..
+	$ cd ..
-$ rosrun laser_scan ptcloud
+	$ roscore
-*New terminal
+Open a new terminal, source it, then start the laser_scan ptcloud node
-$ cd catkin_ws/devel/
+	$ cd catkin_ws/devel/
-$ source setup.bash
+	$ source setup.bash
-$ cd ..
+	$ cd ..
-$ ./laser_run
+	$ rosrun laser_scan ptcloud
+Open a new terminal, source it, then execute laser_run
+	$ cd catkin_ws/devel/
+	$ source setup.bash
+	$ cd ..
+	$ ./laser_run
-$ cd /home/vision/Qt/Tools/QtCreator/bin
+Finally, start qtcreator
-$ ./qtcreator
+	$ cd /home/vision/Qt/Tools/QtCreator/bin
+	$ ./qtcreator
-In qt creator: session, default(last session).
-Rightclick DRCHuboVisionServer, then run
+In the qt creator window, choose "default(last session)".
+Next, rightclick "DRCHuboVisionServer", then click "run"
+==== Control/Client Computer ====
+Now on the Client CPU, open a new terminal and start a roscore.
+Next open a new terminal window, source it, and run qt creator.
-Now on Client CPU
+	$ ./qtcreator
+Click session, default.
-$ ./qtcreator
+Rightclick "DRCHuboClient", click "Kill All", then go to home, and then "run all"
+To update the depth scans at the bottom of the Hubo GUI, check the "Point Cloud (3D)" box, then click "3D Pointcloud"
-Session, default
+{{::screenshot_from_2016-10-27_17_23_53.png|}}
-Rightclick DRCHuboClient
+===== Final Words =====
-Kill All, then find home, then run all
+This tutorial provides an overview for performing 3D depth scans using the Hubo platform. It is specific to the Hubo platform at UNLV's Drones and Autonomous Systems Lab as of fall 2016. Further work could be done to generalize this procedure so that it works with different software configurations, as might be encountered on Hubo platforms at other universities.
-Click Point Cloud (3D) box, then 3D Pointcloud
+For questions, clarifications, etc, email: blakehament@gmail.com
-===== Final Words =====