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Fig. 2. Connections between robot and hardware components
to operate the robot through rough terrain, detect objects of
interestsand interactwith them.Thefollowingblockdiagram
(Fig. 2) shows connections between sensor components and
the robot.
The single cameras of the Robot are located on different
points, giving the operator the possibility to obtain a broad
view around the robot. Two cameras on the front and rear
are placed in the body between the tracks, each giving a
view in the needed driving direction. Another camera is
positioned either on the left or right side of the front, giving
the possibility to reconfigure and choose the needed side
view before operating manually. A last camera is mounted
to the last joint of the robot’s arm providing a view from the
hooks position (e.g. view top-bottom, to see the tracks and
the driveway in overview).
Two laser scanners placed in the front are needed for
generating maps and position in the operation via SLAM-
algorithms. The nuclear sensor and the GPS module are
applied for positioning and obtaining radiation heat maps.
The stereo vision system is installed on the front of the
robot. Its purpose is dedicated to future development of 3D
map generation and autonomous operation.
III. TELE-OPERATING MODE
To control the robot manually, a tele-operating mode is
implemented using ROS. One criteria is to provide two
variants for the operator, which can be chosen later. These
two steering variants are:
• Keyboard controlled steering
• Steering by Xbox controller
For realisation of both steering variants various ROS
packages were integrated in the software environment. TABLE I
KEYBOARD BUTTON CONFIGURATION
Button Function
u Left rubber track forwards (right turn)
i Go forward
o Right rubber track forward (left turn)
j Left rotation
k Current command stop
l Right rotation
m Left rubber track backwards (right turn)
, Go backward
. Right rubber track backwards (left turn)
A. Keyboard control
First approach is to control the robot by a keyboard. To
realise this variant, the teleop twist keyboard package [4]
was integrated into the ROS environment. This allows the
operator to control the vehicle with the input buttons shown
in Table I.
To quit operating the robot by the keyboard, CTRL-
C has to be entered. After that the robot stays in safety
state and cannot be controlled by keyboard as long as the
teleop twist keyboard package is restarted.
B. Xbox controller
Alternatively, ROS also provides controlling the robot by
Xbox controller [7]. Therefore, the joy package [6] is used
for implementing the controller into the ROS environment.
After implementation, every steering command of the robot
can be used to configure it to one of the Xbox controllers
or joysticks buttons. In Fig. 4 the wired Xbox controller and
its buttons are demonstrated.
Since there are only a few of control commands, not all
58
Proceedings of the OAGM&ARW Joint Workshop
Vision, Automation and Robotics
- Titel
- Proceedings of the OAGM&ARW Joint Workshop
- Untertitel
- Vision, Automation and Robotics
- Autoren
- Peter M. Roth
- Markus Vincze
- Wilfried Kubinger
- Andreas Müller
- Bernhard Blaschitz
- Svorad Stolc
- Verlag
- Verlag der Technischen Universität Graz
- Ort
- Wien
- Datum
- 2017
- Sprache
- englisch
- Lizenz
- CC BY 4.0
- ISBN
- 978-3-85125-524-9
- Abmessungen
- 21.0 x 29.7 cm
- Seiten
- 188
- Schlagwörter
- Tagungsband
- Kategorien
- International
- Tagungsbände