ROBOWORKS Robofleet Orin Nano x3 ROS Robot
TAKAITACCEN
Wannan daftarin aiki ya fi yin bayani game da amfani da fakitin aikin samar da robot da yawa mai suna wheeltec_multi.
Wannan takarda ta kasu kashi hudu:
- Kashi na farko ya fi magana ne game da bullo da hanyar samar da robot da yawa;
- Kashi na biyu ya yi bayani ne akan saitunan sadarwa na ROS da yawa, ciki har da gina ROS na sadarwa mai yawa da kuma matsalolin da za a iya fuskanta a cikin tsarin sadarwar ROS;
- Kashi na uku ya fi bayyana matakan aiki na aiki tare na lokaci mai yawa na injina;
- Kashi na huɗu yana bayyana takamaiman amfani da kunshin aikin samar da na'urori da yawa.
Manufar wannan daftarin aiki shine gabatarwa ga tsarin mutum-mutumi na wakilai da yawa kuma yana bawa mai amfani damar fara aikin samar da robot da yawa cikin sauri.
GABATARWA ZUWA GA ALGORITHMS MULTI-Agent
Algorithms samuwar wakili da yawa
Wannan fakitin ROS yana gabatar da matsala ta al'ada na wakilai da yawa a cikin sarrafa haɗin gwiwa yayin tuƙi na ƙirƙira. Wannan koyawa tana kafa tushe don ci gaban gaba akan wannan batu. Algorithm na sarrafa tsari yana nufin algorithm wanda ke sarrafa wakilai da yawa don samar da takamaiman tsari don yin ɗawainiya. Haɗin kai yana nufin haɗin kai tsakanin wakilai da yawa ta amfani da wata ƙaƙƙarfar dangantaka don kammala ɗawainiya. Ɗauki tuƙi ɗin ƙirar mutum-mutumi da yawa azaman tsohonample, haɗin gwiwa yana nufin cewa mutum-mutumi da yawa suna samar da tsarin da ake so tare. Mahimmancinsa shine ƙayyadaddun alaƙar lissafi ta gamsu tsakanin matsayi na kowane mutummutumi. Hanyoyi na ƙirƙira sun kasu kashi-kashi zuwa kulawar ƙirƙira ta tsakiya da rarrabawar sarrafawa. Hanyoyin sarrafa ƙira na tsakiya sun haɗa da tsarin tsarin kama-da-wane, hanyar ka'idar hoto da hanyar tsinkayar ƙira. Hanyoyin sarrafa ƙirƙira da aka rarraba sun haɗa da hanyar jagora-mabiya, hanyar tushen ɗabi'a da tsarin tsarin kama-da-wane.
Wannan fakitin ROS yana amfani da hanyar jagora-mabiyi a cikin hanyar sarrafa tsari da aka rarraba don aiwatar da faifan ƙirar robot da yawa. An naɗa mutum-mutumi guda ɗaya a matsayin jagora, kuma an naɗa sauran mutum-mutumin a matsayin bayi da za su bi jagora. Algorithm yana amfani da yanayin motsi na babban mutum-mutumi don saita daidaitawa don bin diddigin mutummutumi masu zuwa tare da takamaiman jagora da sauri. Ta hanyar gyara karkacewar matsayi daga mahaɗan bin diddigin, a ƙarshe masu bi za su rage karkatar da ke tsakanin mabiyi da haɗin gwiwar bin diddigin da ake sa ran zuwa sifili don cimma manufofin ƙirƙira. Ta wannan hanyar, algorithm yana da ƙarancin rikitarwa.
Algorithms guje wa cikas
Algorithm na gujewa cikas na gama gari shine hanyar filin yuwuwar wucin gadi. Ana ɗaukar motsi na mutum-mutumi a cikin yanayi na zahiri azaman motsi a cikin filin ƙarfin wucin gadi. LiDAR ta gano cikas mafi kusa. Tashin hankali yana ba da filin karfi mai banƙyama don haifar da ƙima ga mutum-mutumi kuma wurin da aka yi niyya yana samar da filin gravitational don samar da ƙarfin nauyi ga mutum-mutumi. Ta wannan hanyar, yana sarrafa motsi na mutum-mutumi a ƙarƙashin aikin haɗin gwiwa na ƙi da jan hankali.
Wannan fakitin ROS haɓakawa ne dangane da yuwuwar filin filin. Da fari dai, ƙirƙira algorithm yana ƙididdige mizani da saurin kusurwa na mai bin Bayi. Sannan yana ƙaruwa ko rage saurin mizani da na kusurwa gwargwadon buƙatun gujewa cikas.Lokacin da tazarar da ke tsakanin mabiyin Bawa da cikas ta yi kusa, ƙarfin tunkuɗewar cikas ga mabiyin bawa ya fi girma. A halin yanzu canjin saurin mizani da bambance-bambancen saurin kusurwa sun fi girma. Lokacin da cikas ya kusa kusa da gaban mabiyin Bawa, tunkuɗewar abin da ke kawo cikas ga mabiyin Bawa ya zama mafi girma (cikar gaba ita ce mafi girma, turewar gefe kuma ita ce mafi ƙanƙanta). A sakamakon haka, bambance-bambancen saurin mizani da saurin angular sun fi girma. Ta hanyar hanyar filin filin wucin gadi, yana inganta mafita
lokacin da mutum-mutumi zai iya daina mayar da martani a gaban cikas. Wannan yana ba da manufa mafi kyawu don guje wa cikas.
SABBIN SADARWA MAI GIRMA
Sadarwar wakilai da yawa yana ɗaya daga cikin mahimman matakai don kammala ƙirƙirar nau'ikan robots. Lokacin da ba a san matsayin dangi na mutum-mutumi da yawa ba, robots suna buƙatar raba bayanan juna ta hanyar sadarwa don sauƙaƙe kafa haɗin gwiwa. ROS rarraba gine-gine da sadarwar cibiyar sadarwa suna da ƙarfi sosai. Ba wai kawai dacewa don sadarwa tsakanin tsari ba, har ma don sadarwa tsakanin na'urori daban-daban. Ta hanyar sadarwar cibiyar sadarwa, duk nodes na iya gudana akan kowace kwamfuta. Babban ayyuka kamar sarrafa bayanai ana kammala su a gefen mai masaukin baki. Injin bayi suna da alhakin karɓar bayanan muhalli da na'urori daban-daban suka tattara. Mai watsa shiri a nan shine manajan da ke gudanar da kullin Jagora a cikin ROS. Tsarin sadarwa na wakilai da yawa na yanzu shine ta hanyar mai sarrafa kumburi da mai sarrafa siga don sarrafa sadarwa tsakanin mutummutumi da yawa.
Matakan kafa hanyoyin sadarwa na wakilai da yawa
Saita ROS Controls a cikin wannan cibiyar sadarwa
Akwai hanyoyi guda 2 na kafa Jagora/Bawan ROS Controls a ƙarƙashin wannan hanyar sadarwa.
Zabin 1:
Mai watsa shiri na ƙirƙira wifi na gida ta hanyar gudanar da Manajan node na Jagora. Gabaɗaya, ɗayan mutummutumin da aka naɗa a matsayin maigida ya ƙirƙiri wannan hanyar sadarwa ta wifi. Sauran mutum-mutumi ko injunan kama-da-wane suna shiga wannan hanyar sadarwar wifi a matsayin bayi.
Zabuka 2:
Na'ura mai ba da hanya tsakanin hanyoyin sadarwa ce ta samar da hanyar sadarwar wifi ta gida azaman cibiyar ba da bayanai. Ana haɗa duk robots zuwa na'ura mai ba da hanya tsakanin hanyoyin sadarwa iri ɗaya. Hakanan ana iya amfani da na'ura mai ba da hanya tsakanin hanyoyin sadarwa ba tare da haɗin Intanet ba. Zaɓi ɗayan mutum-mutumin a matsayin maigida kuma gudanar da manajan kumburin Jagora. Sauran robots an sanya su a matsayin bayi kuma suna gudanar da babban manajan kumburi daga maigidan.
Shawarar akan wane zaɓi zaɓi ya dogara da bukatun aikin ku. Idan adadin mutum-mutumin da ke buƙatar sadarwa ba ya da yawa, ana ba da shawarar Zaɓin 1 tunda yana adana farashi kuma yana da sauƙin saitawa. Lokacin da adadin mutum-mutumi ya yi yawa, ana ba da shawarar zaɓi na 2. Ƙuntatawar ikon sarrafa kwamfuta na ROS master control da iyakacin wifi bandwidth na kan jirgi na iya haifar da tsaiko cikin sauƙi da rushewar hanyar sadarwa. Na'ura mai ba da hanya tsakanin hanyoyin sadarwa na iya gyara waɗannan batutuwa cikin sauƙi.
Lura cewa lokacin aiwatar da sadarwar wakilai da yawa, idan ana amfani da injin kama-da-wane azaman bawa ROS, yanayin cibiyar sadarwar sa yana buƙatar saita yanayin gada.
Sanya masu canjin yanayi na Jagora/Bawa
Bayan duk masanan ROS duk suna cikin hanyar sadarwa iri ɗaya, ana buƙatar saita masu canjin yanayi don sadarwar wakilai da yawa. An saita wannan canjin yanayi a cikin .bashrc file a cikin babban kundin adireshi. Gudun gedit ~/.bashrc don ƙaddamar da shi. Lura cewa duka .bashrc files na maigidan da bawa a cikin sadarwar wakilai da yawa suna buƙatar daidaita su. Abin da ake buƙatar canzawa shine adiresoshin IP a ƙarshen file. Layukan biyu sune ROS_MASTER_URI da ROS_HOSTNAME, kamar yadda aka nuna a hoto 2-1-4. ROS_MASTER_URI da ROS_HOSTNAME na mai masaukin baki ROS duka IPs ne na gida. ROS_MASTER_URI a cikin bawan ROS .bashrc file yana buƙatar canza shi zuwa adireshin IP na mai masaukin baki yayin da ROS_HOSTNAME ya kasance a matsayin adireshin IP na gida.
Sadarwar injuna da yawa ROS baya takurawa sigar sakin ROS. A cikin tsarin sadarwa na multimachine, ya kamata mutum ya san abubuwa masu zuwa:
- Ayyukan shirin bawa na ROS ya dogara ne akan tsarin ROS master na'urar na'urar ROS.
Dole ne shirin ROS master ya fara farawa a farkon na'urar kafin aiwatar da shirin bawa akan na'urar bawa. - Adireshin IP na master da injin bayi a cikin sadarwa na injina da yawa suna buƙatar kasancewa cikin hanyar sadarwa iri ɗaya. Wannan yana nufin adireshin IP da abin rufe fuska na subnet suna ƙarƙashin cibiyar sadarwa iri ɗaya.
- ROS_HOSTNAME a cikin tsarin mahalli file .bashrc ba a ba da shawarar yin amfani da localhost ba. Ana ba da shawarar yin amfani da takamaiman adireshin IP.
- A cikin yanayin cewa ba a saita adireshin IP ɗin bawa daidai ba, na'urar bawa har yanzu tana iya samun dama ga maigidan ROS amma ba zai iya shigar da bayanan sarrafawa ba.
- Idan injin kama-da-wane yana shiga cikin sadarwar wakilai da yawa, yanayin cibiyar sadarwar sa yana buƙatar saita yanayin gada. Ba za a iya zaɓar IP na tsaye don haɗin cibiyar sadarwa ba.
- Sadarwar injina da yawa ba za ta iya ba view ko biyan kuɗi zuwa jigogi na nau'in bayanan saƙo waɗanda ba su cikin gida.
- Kuna iya amfani da ƙaramin wasan kwaikwayo na Kunkuru don tabbatar da ko sadarwa tsakanin mutummutumi ta yi nasara:
a. Gudu daga maigidan
roscore # ƙaddamar da ayyukan ROS
rosrun turtlesim turtlesim_node #launch turtlesim interface
b. Gudu daga bawa
rosrun turtlesim kunkuru_teleop_key #launch keyboard control node for turtlesim
Idan za ku iya sarrafa motsin kunkuru daga madannai na kan bawa, yana nufin an kafa sadarwar maigida/bawa cikin nasara.
Haɗin Wifi ta atomatik a cikin ROS
Hanyoyin da ke ƙasa suna bayanin yadda ake saita mutum-mutumi don haɗa kai tsaye zuwa cibiyar sadarwar mai watsa shiri ko hanyar sadarwa ta hanyar sadarwa.
Saitin haɗin Wifi ta atomatik don Jetson Nano
- Haɗa Jetson Nano ta hanyar VNC kayan aiki mai nisa ko kai tsaye zuwa allon kwamfuta. Danna gunkin wifi a saman kusurwar dama sannan danna "Edit Connections.."
- Danna maɓallin + a cikin Haɗin Intanet:
- A ƙarƙashin taga "Zaɓi Nau'in Haɗin kai", danna menu mai saukewa kuma danna maɓallin "Create...":
- A cikin Control Panel, danna Wifi zaɓi. Shigar da sunan Wifi don haɗawa a cikin "sunan haɗin gwiwa" da filayen SSID. Zaɓi "Client" a cikin menu na "Yanayin" kuma zaɓi "wlan0" a cikin menu na zaɓuka na "Na'ura".
- A cikin Control Panel, danna "Gaba ɗaya" zaɓi kuma duba "Haɗa ta atomatik zuwa wannan cibiyar sadarwa...". Saita fifikon haɗin kai zuwa 1 a cikin zaɓin "fififin haɗi don kunnawa ta atomatik". Duba "Duk masu amfani na iya haɗawa da wannan hanyar sadarwa" zaɓi. Lokacin da aka saita zaɓi zuwa 0 a cikin "Fififin haɗi don kunnawa ta atomatik" don sauran wifi, wannan yana nufin wannan shine hanyar sadarwar wifi da aka fi so a baya.
- Danna "Tsaro Wi-Fi" zaɓi a cikin Control Panel. Zaɓi "WPA & WPA2 Keɓaɓɓen" a cikin filin "Tsaro". Sannan shigar da kalmar sirri ta Wifi a ciki
Lura:
Idan mutum-mutumi ba zai iya haɗa kai tsaye zuwa cibiyar sadarwar wifi ba bayan ya tashi lokacin da aka saita fifikon wifi zuwa 0, yana iya zama matsala ta siginar wifi mai rauni. Don guje wa wannan matsalar, zaku iya zaɓar share duk zaɓin wifi waɗanda aka haɗa a baya. Ajiye hanyar sadarwar wifi kawai wanda mai gida ko na'ura mai ba da hanya tsakanin hanyoyin sadarwa ya kirkira.
Danna "Saitunan IPv4" a cikin saitunan sarrafa saitunan cibiyar sadarwa. Zaɓi zaɓi "Manual" a cikin filin "Hanyar". Sa'an nan danna "Ƙara", cika adireshin IP na na'ura na bawa a cikin filin "Adireshin". Cika "24" a cikin filin "Netmask". Cika sashin cibiyar sadarwar IP a cikin "Ƙofar". Canja lambobi uku na ƙarshe na sashin cibiyar sadarwar IP zuwa "1". Babban manufar wannan mataki shine gyara adireshin IP. Bayan an gama wannan a karon farko, adireshin IP ɗin ba zai canza ba lokacin haɗawa zuwa WIFI ɗaya daga baya.
Bayan an saita duk saituna, danna "save" don adana saitunan. Bayan ceton ya yi nasara, robot ɗin zai haɗa kai tsaye zuwa cibiyar sadarwar mai watsa shiri ko na'ura mai ba da hanya tsakanin hanyoyin sadarwa lokacin da aka kunna ta.
Lura:
- Adireshin IP da aka saita anan yana buƙatar zama iri ɗaya da adireshin IP da aka saita a cikin .bashrc file a cikin Sashe na 2.1.
- Adireshin IP na maigidan da kowane bawa dole ne ya zama na musamman.
- Adireshin IP na maigida da bawa suna buƙatar kasancewa cikin ɓangaren cibiyar sadarwa iri ɗaya.
- Dole ne ku jira mai watsa shiri ko na'ura mai ba da hanya tsakanin hanyoyin sadarwa don aika siginar WiFi kafin a iya kunna robot ɗin bawa kuma ya haɗa kai tsaye zuwa cibiyar sadarwar WiFi.
- Bayan an saita saitin, idan mutum-mutumi ba zai iya haɗawa ta atomatik zuwa WiFi lokacin da aka kunna shi ba, da fatan za a toshe ka cire katin sadarwar kuma a sake gwada haɗawa.
Saitin haɗin Wifi ta atomatik don Rasberi Pi
Hanyar Rasberi Pi iri ɗaya ce da Jetson Nano.
Saitin haɗin Wifi ta atomatik don Jetson TX1
Saitin a Jetson TX1 kusan iri ɗaya ne da Jetson Nano tare da banda ɗaya Jetson TX1 yakamata ya zaɓi na'urar "wlan1" a cikin "Na'ura" a cikin saitunan saitunan cibiyar sadarwa.
SABBIN INGANTATTUN WAKILAN DA DUNIYA
A cikin aikin samar da wakilai da yawa, saitin daidaita lokaci mai wakilai da yawa mataki ne mai mahimmanci. A cikin aiwatar da samuwar, za a haifar da matsaloli da yawa saboda lokacin tsarin asynchronous na kowane mutummutumi. Aiki tare da Multi-Agent lokaci aiki tare ya kasu kashi biyu yanayi, wato, halin da ake ciki cewa duka master da bawa mutummutumi suna da alaka da cibiyar sadarwa da kuma halin da ake ciki cewa duka biyu an katse daga cibiyar sadarwa.
Babban haɗin yanar gizo na master/bayi mai nasara
Bayan an daidaita sadarwar wakilai da yawa, idan na'urorin master da bayi za su iya yin nasarar haɗi zuwa cibiyar sadarwar, za su daidaita lokacin cibiyar sadarwa ta atomatik. A wannan yanayin, ba a buƙatar ƙarin ayyuka don cimma daidaituwar lokaci.
Gyara matsalar katse haɗin haɗin yanar gizo
Bayan an daidaita sadarwar wakilai da yawa, idan na'urorin maigidan da bawa ba za su iya samun nasarar haɗawa zuwa cibiyar sadarwar ba, ya zama dole don daidaita lokacin da hannu. Za mu yi amfani da umarnin kwanan wata don kammala saitin lokaci.
Da farko, shigar da kayan aikin ƙarewa. Daga kayan aikin ƙarewa, yi amfani da kayan aikin raba taga don sanya tashoshin sarrafawa na maigidan da bawa a cikin tagar tasha ɗaya (danna dama don saita taga tsaga, sannan shiga cikin injina da na'urar bawa ta ssh a cikin windows daban-daban) .
sudo apt-samun shigar mai amfani # Zazzage mai ƙare zuwa taga mai raba tasha
Danna maballin da ke saman hagu, zaɓi zaɓi [Watsawa zuwa duka]/[Broadcast all], shigar da umarni mai zuwa. Sannan yi amfani da kayan aikin ƙarewa don saita lokaci guda don maigida da bawa.
sudo kwanan wata -s "2022-01-30 15:15:00" # saitin lokacin hannu
Kunshin ROS MULTI-Agent
Gabatarwa Kunshin ROS
Saita sunan bawa
n kunshin aikin wheeltec_multi, wajibi ne a saita suna na musamman ga kowane mutum-mutumin bawa domin gujewa kurakurai. Domin misaliample, Lamba 1 na bawa1 da na 2 na bawa2 da dai sauransu.
Manufar saita sunaye daban-daban shine a haɗa nodes masu gudana da kuma bambanta su da wuraren suna daban-daban. Domin misaliample, batun radar na bawa 1 shine: /slave1/scan, kuma kullin LiDAR na bawa 1 shine: / bawa1/laser.
Saita daidaitawar bayi
Kunshin wheeltec_multi na iya aiwatar da gyare-gyare na al'ada. Lokacin da ake buƙatar ƙira daban-daban, kawai gyara abubuwan haɗin gwiwar da ake so na bayi mutummutumi. Slave_x da bawa_y su ne haɗin gwiwar x da y na bawa tare da maigidan a matsayin ainihin ma'anar magana. Gaban maigidan shine ingantacciyar shugabanci na haɗin gwiwar x, kuma gefen hagu shine kyakkyawan shugabanci na haɗin gwiwar y. Bayan an gama saitin, za a ba da TF coordinate bawa1 a matsayin haɗin gwiwar bawa.
Idan akwai maigida daya da bayi biyu, ana iya saita tsari mai zuwa:
- Ƙirƙiri na kwance: Za ka iya saita daidaitawar bawan a hagu zuwa: slave_x: 0, bawa_y: 0.8, da kuma haɗin gwiwar bawa akan dama zuwa: slave_x: 0, bawa_y: -0.8.
- Ƙirƙirar ginshiƙi: Za a iya saita ma'auni na bawa ɗaya zuwa: bawa_x: -0.8, bawa_y:0, kuma ana iya saita ma'ajin na wani bawa zuwa: bawa_x:-1.8, bawa_y:0.
- Samuwar Triangular: Ana iya saita ma'ajin bawa ɗaya zuwa: bawa_x: -0.8, bawa_y: 0.8, kuma ana iya saita ma'ajin ɗayan bawa zuwa: bawa_x: -0.8, bawa_y: -0.8.
Za a iya keɓance sauran tsarin kamar yadda ake buƙata.
Lura
An saita nisa da aka ba da shawarar tsakanin robots biyu zuwa 0.8, kuma ana ba da shawarar kada ya zama ƙasa da 0.6. An ba da shawarar tazara tsakanin bayi da maigidan a saita ƙasa da 2.0. Mafi nisa daga maigidan, mafi girman saurin layin bawan shine lokacin da maigidan ke juyawa. Saboda ƙayyadaddun iyakar gudu, gudun bawa zai karkata idan bai dace da bukatun ba. Samuwar mutum-mutumin zai zama hargitsi.
Farawar matsayin bawa
Matsayin farko na bawan yana cikin daidaitawar da ake tsammani ta tsohuwa. Kafin gudanar da shirin, kawai sanya mutum-mutumin bawa kusa da abubuwan haɗin da ake sa ran don kammala farawa.
Ana aiwatar da wannan aikin ta hanyar kumburin pose_setter a cikin file mai suna turn_on_wheeltec_robot.launch a cikin kunshin wheeltec_multi, kamar yadda aka nuna a hoto 4-1-3.
Idan mai amfani yana so ya keɓance matsayin farkon bawa, shi ko ita kawai yana buƙatar saita ƙimar slave_x da slave_y kamar yadda aka nuna a hoto na 4-1-4 a cikin wheeltec_slave.launch. Bawan_x da kimar bawa_y za a wuce zuwa kunna_wheeltec_robot.launch kuma a sanya su zuwa kumburin pose_setter. Kawai sanya mutum-mutumi a wuri na al'ada kafin gudanar da shirin.
Kanfigareshan Matsayi
A cikin samar da wakilai da yawa, matsala ta farko da za a magance ita ce matsayi na maigida da bawa. Maigidan zai fara gina taswirar 2D. Bayan ƙirƙira da adana taswirar, gudanar da kunshin kewayawa na 2D kuma yi amfani da daidaitawar Monte Carlo positioning algorithm (amcl positioning) a cikin kunshin kewayawa na 2D don saita matsayi na maigidan.
Tun da maigidan da bayi suna cikin hanyar sadarwa ɗaya kuma suna raba manajan node iri ɗaya, maigidan ya ƙaddamar da taswirar daga kunshin kewayawa na 2D, duk bayi na iya amfani da taswira iri ɗaya ƙarƙashin manajan node iri ɗaya. Saboda haka, bawa baya buƙatar ƙirƙirar taswira. A cikin wheeltec_slave.launch, gudanar da matsayi na Monte Carlo (amcl positioning), bayi za su iya daidaita matsayinsu ta amfani da taswirar da maigidan ya kirkira.
Yadda za a ƙirƙira samuwar da kuma kula da samuwar
A cikin aiwatar da motsin ƙirƙira, motsin maigidan na iya sarrafa Rviz, keyboard, sarrafa nesa da sauran hanyoyin. Bawan yana lissafin saurinsa ta hanyar kullin bawa_tf_listener don sarrafa motsinsa da cimma burin samuwar.
Kullin bawa_tf_listener yana iyakance gudun bawa don gujewa wuce gona da iri ta lissafin kumburi, wanda zai haifar da jerin tasiri. Ana iya canza takamaiman ƙimar a wheeltec_slave.launch.
Abubuwan da suka dace na ƙirƙira algorithm sune kamar haka:
Nisantar cikas a cikin samuwar
A cikin tsari na wakilai da yawa, maigidan na iya amfani da kullin move_base don kammala nisantar cikas. Koyaya, ƙaddamar da bawa baya amfani da kumburin motsi_base. A wannan gaba, ana buƙatar kiran kumburin multi_avoidance a cikin shirin bawa. An kunna kullin gujewa cikas ta tsohuwa a cikin kunshin. Idan ya cancanta, ana iya saita nisantar zuwa “ƙarya” don kashe kullin gujewa cikas.
Ana nuna wasu ma'auni masu dacewa na kumburin gujewa cikas a cikin hoton da ke ƙasa, inda safe_distance shine cikas amintaccen iyakar nisa, kuma haɗarin_nisa shine cikas mai haɗari iyakar nisa. Lokacin da cikas ya kasance a cikin aminci_nesa da haɗari_nesa, bawa ya daidaita matsayinsa don guje wa cikas. Lokacin da cikas yana cikin nisa_haɗari, bawa zai kori daga cikas.
Tsarin Aiki
Shigar da umarnin aiwatarwa
Shirye-shirye kafin fara samar da wakilai da yawa:
- Maigida da bawa suna haɗi zuwa cibiyar sadarwa iri ɗaya kuma suna saita sadarwar wakilai da yawa daidai
- Maigidan yana gina taswirar 2D a gaba kuma ya ajiye ta
- Ana sanya maigidan a farkon taswirar, kuma an sanya bawan kusa da wurin farawa (matsayin samuwar bawa na tsoho)
- Bayan shiga Jetson Nano/Raspberry Pi daga nesa, yi aiki tare da lokaci.
sudo kwanan wata -s "2022-04-01 15:15:00"
Mataki na 1: Bude taswirar 2D daga maigidan.
roslaunch turn_on_wheeltec_robot navigation.launch
Mataki 2: Gudanar da tsarin samarwa daga dukkan bayi.
roslaunch wheeltec_multi wheeltec_slave.launch
Mataki 3: Bude kullin sarrafa madannai daga maigidan ko amfani da joystick don sarrafa motsin mai sarrafa nesa.
roslaunch wheeltec_robot_rc keyboard_teleop.launch
Mataki 4: (Na zaɓi) Kula da motsin robot daga Rviz.
rviz
Lura
- Tabbatar da kammala aikin daidaitawa lokaci kafin aiwatar da shirin.
- Lokacin sarrafa maigidan samuwar wakilai da yawa, saurin kusurwa bai kamata yayi sauri ba. Gudun layin da aka ba da shawarar shine 0.2m/s, digiri na saurin kusurwa ƙasa 0.3rad/s. Lokacin da maigidan ke yin juyi, gwargwadon nisa bawa daga maigidan, ana buƙatar mafi girman saurin layin. Saboda iyaka akan saurin madaidaiciya da saurin kusurwa a cikin kunshin, lokacin da motar bawa ba zata iya kaiwa ga saurin da ake buƙata ba, samuwar za ta kasance hargitsi. Gabaɗaya, saurin layin da ya wuce kima na iya lalata mutum-mutumi cikin sauƙi.
- Lokacin da adadin bawa ya fi ɗaya, saboda ƙarancin wifi bandwidth na kan jirgin na mai masaukin ROS, yana da sauƙi don haifar da jinkiri mai mahimmanci da kuma cire haɗin sadarwa na wakilai da yawa. Yin amfani da na'ura mai ba da hanya tsakanin hanyoyin sadarwa na iya magance wannan matsala da kyau.
- Itacen TF na halittar robot da yawa ( bayi 2) shine: rqt_tf_tree
- Jadawalin dangantakar node na ƙirar robot da yawa (bayi 2) shine: rqt_graph
Takardu / Albarkatu
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ROBOWORKS Robofleet Orin Nano x3 ROS Robot [pdf] Manual mai amfani Orin Nano x3, Robofleet ROS Robot, Robofleet ROS, Robot, Robofleet Orin Nano x3 ROS Robot, Robofleet Orin Nano x3, Orin Nano x3 ROS Robot, Orin Nano x3 |