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Interface with the robot as a ROS client

Installation

Install the following ROS packages in your catkin workspace

cd <your catkin workspace>/src
git clone https://github.com/jeguzzi/thymioid.git --branch client
git clone https://github.com/jeguzzi/ros-aseba.git --branch client
catkin build

Launch RViz

roslaunch thymioid rviz.launch name:=<thymioXX>

(Re-) Configure

Use dynamic reconfigure to change:

  • the camera pitch,
  • the motor dead-band,
  • the camera stream compression.
rosrun rqt_reconfigure rqt_reconfigure

Teleoperate the robot with a joypad

roslaunch thymioid joy_teleop.launch name:=<thymioXX>

Playback the microphone stream

The robot publish an (mp3) audio stream on <thymioXX>/camera/audio recorded by the webcam's microphone. To play it back on your computer, install audio_common

apt install ros-<YOUR_ROS_DISTRIBUTION>-audio-common

and then launch the audio_play node with

roslaunch thymioid audio_play.launch name:=<thymioXX>

Launch a Gazebo simulation

The simulated model implements:

  • the tiltable web-camera with the same distortion as the real camera,
  • the wheels (and their odometry),
  • the proximity and ground sensors (which are implemented as distance sensors only),
  • the IMU,

and uses the same urdf model as the real robot.

roslaunch thymioid_description test_gazebo_bringup.launch

Robot parameters

The robot model (geometrical and physical properties) is defined in two packages

which contains all the robot parameters and the meshes for any robot part as COLLADA files.

The following are the most important parameters for the controlling the (real) robot:

base:

  • length: 11.0 cm
  • width: 11.18 cm
  • height: 7.7 cm

wheels

  • radius: 2.2 cm
  • width: 1.5 cm
  • axis (distance between wheels centers): 9.35 cm
  • maximal angular speed: ~7.5 rad/s

kinematics

  • maximal linear speed: ~ 14 cm/s
  • maximal angular speed: ~ 3 rad/s

proximity (and ground) sensors

  • maximal range (to detect a white surface): ~ 12 cm
  • field of view: 0.3 rad

camera

The camera is mounted on a tiltable joint (downward pitch is positive) with

  • min pitch: -0.34 rad
  • max pitch: 1.3 rad