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Table of Contents
Contribution by Hyunduk Seo (Brandon)
Author: <Brandon Seo> Email: hyunduck1024@gmail.com
Date: Last modified on <MM/DD/YY>
Keywords: <Ros, Tutorial, CMakeLists, step-by-step>
The photo above depicts ball tracking system which allows you to understand ROS program and make autonomous cotrol system. The big picture problem is normally moving gantry or detecting ball is easy, but combining these two things is difficult. Solving this partially or completely is important because every robot is getting autonomically move. This tutorial shows you how to combine gantry system and opencv using ROS and lots of potential of future farming or factory. It takes approximately 10 hours to complete.
Motivation and Audience
This tutorial's motivation is to practice basic autonomous system using ROS. Readers of this tutorial assumes the reader has the following background and interests:
* Know how to move gantry system .
* know how to detect a red ball by opencv.
* background of c++, linux manual, CMakeLists.
* This tutorial may also attract readers who want to study indoor farming.
The rest of this tutorial is presented as follows:
- Programming <!- delete this line if not applicable →
- Final Words
Parts List and Sources
US-based vendors to obtain material to complete this tutorial include <list relevant hyperlinks or phone numbers and addresses>.
To complete this tutorial, you'll need the following items
| PART NAME/DESCRIPTION | VENDOR | VENDOR Number or URL | PRICE | QTY |
|---|---|---|---|---|
| 8020 Aluminum Beam and Joints | <???> | <???> | <???> | <???> |
| Red Ball(It can be anyball) | <???> | <???> | <???> | 1 |
| Dynamixel MX-106 Actuator | robotis | https://www.trossenrobotics.com/p/MX-106R-dynamixel-robot-servo.aspx | $499.9 | 4 |
| Foam Board | Amazon.com | https://www.amazon.com/Pacon-Foam-Board-White-Sheets/dp/B00IWSHEB0 | <???> | 1 |
| Power Supply | Amazon.com | https://www.amazon.com/COOLM-Adapter-100-240V-Doorbell-5-5X2-5MM/dp/B07D5B5Q28/ref=sr_1_3?crid=2G1KDMA9S5IYC&keywords=12v+2a+5.5+2.5&qid=1558564688&s=gateway&sprefix=12v+2a+5.5+%2Caps%2C185&sr=8-3 | <???> | 1 |
For dynamixel motor control, the following article should be downloaded http://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_sdk/download/#repository
For Robot Operating System installation, use the following link. ROS-kinetic kame is used http://wiki.ros.org/ROS/Installation
ROS has opencv 3.0 version, so you have to upgrade opencv 3.0.1 to opencv 4.0.1. Be careful when you delete the existing files. https://webnautes.tistory.com/1186
Programming
This section gives step-by-step instructions along with photos to <fill in the blank>. (If a circuit-building tutorial:) A schematic to construct <fill in the blank> is shown here <add image>. <Add hyperlink to PDF of schematic> is the Acrobat file of the same schematic.
Step 1
Gantry tutorial http://www.daslhub.org/unlv/wiki/doku.php?id=how_to_move_gantry
Step 2
Color Detecting using OpenCV http://www.daslhub.org/unlv/wiki/doku.php?id=color_detecting
Step 3
ROS Tutorial http://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment
Final Words
This tutorial's objective was to <fill in the blank>. Complete <choose: construction details, source code and program descriptions> for <fill in the blank>. Once the concepts were conveyed the reader could <fill in the blank>.
Speculating future work derived from this tutorial, includes <fill in the blank>. In the big picture, the problem of <fill in the blank> can be solved with this tutorial.
For questions, clarifications, etc, Email: paul.oh@unlv.edu