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 PythonLanguage:
English and GermanStart:
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 recognitionMaterials (for download):
Installation of ROS packages:
Requirements:installed ROS Fuerte
installed PR2 Fuerte Simulation Package
- check out the ROS Tutorials
mkdir ~/ros_workspace cd ~/ros_workspace # download the archive: wget http://tams.informatik.uni-hamburg.de/lectures/2014ws/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=simStart up simulation and the navigation stack:
roslaunch race_gazebo_worlds race_world_pr2_simrun.launch demo_21a:=true roslaunch race_navigation pr2_nav_tutorial_pr2.launch rosrun pr2_tuckarm tuck_arms.py b # Tucks PR2's arms for moving aroundStart up map visualization:
roslaunch pr2_navigation_global rviz_move_base.launch
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.
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Last modified: 15.10.2014
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