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Repository Summary
| Checkout URI | https://github.com/tkuwheel/tkurobosot.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2020-02-25 |
| Dev Status | UNMAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
| Name | Version |
|---|---|
| joy | 1.9.10 |
| joystick_drivers | 1.9.10 |
| nubot_common | 0.0.0 |
| nubot_description | 1.0.0 |
| nubot_gazebo | 0.1.0 |
| transfer | 0.0.0 |
| imu_3d | 0.0.0 |
| mjpeg_server | 1.1.2 |
| motion | 1.0.0 |
| image_exposure_msgs | 0.13.4 |
| pointgrey_camera_description | 0.13.4 |
| pointgrey_camera_driver | 0.13.4 |
| statistics_msgs | 0.13.4 |
| wfov_camera_msgs | 0.13.4 |
| self_localization | 0.0.0 |
| strategy | 0.2.0 |
| vision | 0.0.0 |
README
TKU RoboSot Project
The purpose of this project is implementing, researching, developing the Soccer Robot for FIRA RoboSot League.
Requirement & Installation
System:
~ROS Kinetic w/ Ubuntu 16.04 Install~
ROS Melodic w/ Ubuntu 18.04 Install
ROS2 Dashing w/ Ubuntu 18.04 Install
Setup:
$ mkdir -p robosot_ws/src && cd robosot_ws
$ git clone https://github.com/tkuwheel/TKURoboSot.git src/
ROS Packages:
$ sudo apt-get install ros-melodic-rosbridge-server ros-melodic-prosilica-camera
$ sudo apt-get install ros-melodic-rosserial ros-melodic-rosserial-arduino
ROS2 Packages:
$ sudo apt install ros-dashing-rmw-opensplice-cpp # for OpenSplice
$ sudo apt install ros-dashing-rmw-connext-cpp # for RTI Connext (requires license agreement)
$ sudo apt-get install python3-colcon-common-extensions
$ sudo apt-get install ros-dashing-launch*
Python packages:
$ cd src/
$ pip install -r requirements.txt
Installization and Requirments of FLIR Grasshopper3 Camera
see pointgrey_camera_driver/README.md
Compiling
$ catkin_make
Setup udev rules:
$ sudo cp <path to motion>/rule/* /etc/udev/rules.d/
Compiling ROS2
$ cd <ros1_ws>/src/ros2/ros2_ws
# Build ros2 message first
$ colcon build --symlink-install --packages-select strategy
Build custom ros1_bridge
$ source /opt/ros/dashing/setup.bash
$ source <ros1_ws>/devel/setup.bash
$ source <ros2_ws>/install/setup.bash
$ colcon build --symlink-install --packages-select ros1_bridge
Startup
Environment Setting
$ echo "export RMW_IMPLEMENTATION=rmw_connext_cpp" >> ~/.bashrc
# Get Camera's serial number
$ rosrun pointgrey_camera_driver list_cameras
# Setting Robot's number & Camera's Serail number
$ source Setting.sh
# Gazebo Simulator
$ roslaunch nubot_gazebo game_ready.launch
# Strategy w/ simulation mode
$ roslaunch strategy core.launch sim:=true
# Launch robot devices
$ roslaunch strategy main_7th_all.launch
# GUI
# using plugin of dynamic_reconfigure
$ rqt
$ source <ros2_ws>/install/setup.bash
$ ros2 run ros1_bridge dynamic_bridge --bridge-all-topics
Troubleshooting
import error
from error import *
ImportError: No module named 'error'
Missing ‘rospkg’ ‘catkin_tools’
pip install rospkg catkin_tools
import rospkg library error:
ImportError: No module named 'rospkg'
Add the line to ~/.bashrc
export PYTHONPATH=$PYTHONPATH:/usr/lib/python2.7/dist-packages
pip3 syntax error
Error message:
Traceback (most recent call last):
File "/usr/bin/pip3", line 9, in <module>
from pip import main
File "/usr/lib/python2.7/dist-packages/pip/__init__.py", line 16, in <module>
from pip.vcs import git, mercurial, subversion, bazaar # noqa
File "/usr/lib/python2.7/dist-packages/pip/vcs/subversion.py", line 9, in <module>
from pip.index import Link
File "/usr/lib/python2.7/dist-packages/pip/index.py", line 30, in <module>
from pip.wheel import Wheel, wheel_ext
File "/usr/lib/python2.7/dist-packages/pip/wheel.py", line 6, in <module>
import compileall
File "/usr/lib/python3.5/compileall.py", line 20, in <module>
from concurrent.futures import ProcessPoolExecutor
File "/usr/lib/python2.7/dist-packages/concurrent/futures/__init__.py", line 8, in <module>
from concurrent.futures._base import (FIRST_COMPLETED,
File "/usr/lib/python2.7/dist-packages/concurrent/futures/_base.py", line 357
raise type(self._exception), self._exception, self._traceback
^
SyntaxError: invalid syntax
Edit
Replace ```raise type(self._exception), self._exception, self._traceback
with
```raise Exception(self._exception).with_traceback(self._traceback)
About Us
Tamkang University Intelligent Automation And Robotics Center
Our Research
CONTRIBUTING
No CONTRIBUTING.md found.
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