MIN-Fakultät
Fachbereich Informatik
TAMS

Content


Within this project you shall learn how to basically program a robot to do tasks like navigating, manipulating, interfacing with humans. Therefore ROS (robot operating system) as the standard open-source middle-ware will be used to program the robot. You will start working with a simulated PR2 service robot and later on move to the real one. It has many sensors such as laser scanners, stereo cameras, Kinect etc. Furthermore it has two sophisticated arms for manipulating the environment.

Prerequisites:

Experiences in programming C/C++ and/or Python

Language:

English and German

Start:

Yearly starting with the sommer semester.

Keywords:

Computergrafik, 3D, Robotik. Mensch-Maschine-Interaktion, Bildverarbeitung, Locomotion, Sensortechnik, Manipulation, Grasping, computer graphics, robotics, human-machine interface, image processing, sensor fusion, localization, navigation, gesture recognition

Materials (for download):

  • The TAMS PR2 3D Simulation Stack
  • Installation of ROS packages:

    Requirements:
    1. installed ROS Fuerte
    2. installed PR2 Fuerte Simulation Package
    3. check out the ROS Tutorials
    Setup your environment:
    $> mkdir ~/ros_workspace
    $> cd ~/ros_workspace
    $> # download the archive
    $> wget http://tams.informatik.uni-hamburg.de/lectures/2014ss/projekt/ir/data/race_pr2.tgz
    $> tar -xvzf race_pr2.tgz # extract file to ~/ros_workspace/
    $> source /opt/ros/fuerte/setup.bash
    $> export ROS_PACKAGE_PATH=~/ros_workspace:$ROS_PACKAGE_PATH
    $> rosmake race_simulation_run
    $> export ROBOT=sim
    
    Start up simulation and the navigation stack:
    
    $> rosrun race_simulation_run sim_run_race_common
    $> roslaunch race_navigation pr2_nav_tutorial_pr2.launch 
    
    Start up map visualization:
    $> roslaunch pr2_navigation_global rviz_move_base.launch
    

     
    Python listener example: ROS package
     

    Learning goal

    Get to know various methods and approaches from different aspects of state-of-the-art mobile robotics.

    Approach

    Parallel attending the integrated seminar of intelligent robotics. The project has a duration of two semesters and will be continued with 4 SWS in the following winter semester (sommer semester: 2 SWS seminar + 2 SWS project).

    Appropriate working includes literature research, self-acquiring of basic methods and conepts, implementing of a prototyp, presenting and documenting of the results.

    All reports including an oral presentation of the first semester will take place in the integrated seminar 64.451. Generally the project work can be done in groups of two students including the final report (at the end of the second semester).

    Literature:

    Will be announced on the lecture web page of TAMS and in the course. An initiative research on the literature listed on the course web site is mandatory.