20150708 ros seminar_in_busan_korea

1. ROS Seminar @ Dong-a University, Busan 2015/07/08 www.facebook.com/yoonseok.pyo ROS !

3. ROS ROS Seminar @ Busan Section 1 2015/07/08 www.facebook.com/yoonseok.pyo

4. ROSRobot Operating System

6. http://www.rosewill.com/, http://www.samsung.com/global/business/mobile/product/smartphone Personal Computer Smartphone 6

8. http://www.techpowerup.com/, http://global.samsungtomorrow.com/ Personal Computer Smartphone 8

9. Personal Computer Smartphone http://en.wikipedia.org/wiki/Linux, https://www.apple.com/, http://windows.microsoft.com/, The icons are trade mark of each company iOS 8 9

10. 10

11. 11

12. 12

13. Iron Man (2008 film) - Wikipedia Are you actually a genius? 13

14. 14

15. [1983 (?) DynaTAC 8000 Martin Cooper, ] http://blog.cartoys.com/date/2013/04/, https://line.do/the-evolution-of-cell-phones/r5q4ui/vertical 15

16. iOS 8 16

17. Photographed by Daniel Case, GNU Free Documentation License Platform ? 17

18. Photographed by Daniel Case, GNU Free Documentation License Platform ? 18

19. 19http:// ros.org kr.forwallpaper.com http://www.softbank.jp/en/corp/group/sbr/ http://www.opros.or.kr/ http://www.openrtm.org/

20. 20http:// ros.org kr.forwallpaper.com http://www.softbank.jp/en/corp/group/sbr/ http://www.opros.or.kr/ http://www.openrtm.org/ http://schools-wikipedia.org/ Galapagos

21. 21http:// ros.org kr.forwallpaper.com http://www.softbank.jp/en/corp/group/sbr/ http://www.opros.or.kr/ http://www.openrtm.org/ http://schools-wikipedia.org/ Galapagos

22. 22

23. 23

24. http://www.greaterlasvegashomes.com/files/2014/09/soccer-stadium-.jpg 24

25. http://www.wallpaper505.com/the-best-world-football-players-2014-2015-best-desktop-wallpaper.html 25

26. 26

28. ROS is an open-source, meta-operating system for your robot. It provides the services you would expect from an operating system, including hardware abstr action, low-level device control, implementation of c ommonly-used functionality, message-passing betw een processes, and package management. It also pr ovides tools and libraries for obtaining, building, writ ing, and running code across multiple computers. http://www.ros.org/wiki/ http://www.ros.org/news/ 28

29. http://www.ros.org/about-ros/ 29

30. ! http://imgfave.com/ 30

31. 31

32. 32

33. 33

34. iOS , , , , , , 34

35. iOS 35

36. iOS 36

37. 37

38. 38

39. 39

40. 40

41. 41

42. APP ROS ROBOT, SENSOR 2014 Metrics , http://download.ros.org/downloads/metrics/metrics-report-2014-07.pdf, http://wiki.ros.org/Robots, http://www.ros.org/is-ros-for-me/ , , 42

43. http://wiki.ros.org/Distributions 43 ?

44. Switchyard ROS ROS 1.0 2007 2007.11 2010.01.22 2010.03.02 2010.08.02 2011.03.02 2011.08.30 2012.04.23 2012.12.31 Box Turtle C Turtle Diamondback Electric Emys Fuerte Turtle Groovy Galapagos 2013.09.04 2014.07.22 Hydro Medusa Indigo Igloo 2015.05.23 B C D E F G H I http://wiki.ros.org/Distributions Jade Turtle J Kinetic Kame 2016.05.xx 44

45. 45

46. 46

47. https://mirror.enha.kr/ 47

48. 48

50. 50

51. http://www.dreamstime.com/illustration/people-talk-listen-tin-can-phone-communication.html Topic Publisher Subscriber Topic SLAM( X, Y, ) Publisher Subscriber Topic A ( X, Y) Subscriber B Topic , 51

52. http://www.dreamstime.com/illustration/people-talk-listen-tin-can-phone-communication.html ~ ! ? ? ~ 12:00! 52

53. 53

54. 1 2 (, ) 54

55. XMLRPC: http://ROS_MASTER_URI:11311 55

56. 2 XMLRPC: http://ROS_MASTER_URI:11311 : /subscriber_node_name, /topic_name, message_type, http://ROS_HOSTNAME:1234 XMLRPC: http://ROS_HOSTNAME:1234 56

57. 1 2 XMLRPC: http://ROS_MASTER_URI:11311 : /publisher_node_name, /topic_name, message_type, http://ROS_HOSTNAME:5678 XMLRPC: http://ROS_HOSTNAME:5678 57

58. 1 2 : /publisher_node_name, /topic_name, message_type, http://ROS_HOSTNAME:5678 XMLRPC: XMLRPC: http://ROS_HOSTNAME:1234 58

59. 1 2 XMLRPC: http://ROS_HOSTNAME:1234 TCPROS XMLRPC: http://ROS_HOSTNAME:5678 59

60. 1 2 XMLRPC: http://ROS_HOSTNAME:1234 TCPROS XMLRPC: http://ROS_HOSTNAME:5678 (http://ROS_HOSTNAME:3456) 60

61. 1 2 TCPROS : ROS_HOSTNAME:7890 TCPROS TCPROS: ROS_HOSTNAME:3456 61

62. 1 2 TCPROS : ROS_HOSTNAME:7890 TCPROS: ROS_HOSTNAME:3456 () 62

63. 1 2 TCPROS : ROS_HOSTNAME:7890 TCPROS: ROS_HOSTNAME:3456 () 63

64. 1 2 TCPROS : ROS_HOSTNAME:7890 TCPROS: ROS_HOSTNAME:3456 / () 64

65. 1 2 TCPROS : ROS_HOSTNAME:7890 TCPROS: ROS_HOSTNAME:3456 ( ) ( ) 65

66. 66

67. roscore http://192.168.4.100:50051 turtlesim_node http://192.168.4.100:45704 turtle_teleop_key /turtle1/cmd_vel : /teleop_turtle, /turtle1/cmd_vel, geomety_msgs/Twist, http://192.168.4.100:45704 : /teleop_turtle, /turtle1/cmd_vel, geomety_msgs/Twist, http://192.168.4.100:45704 : /turtlesim, /turtle1/cmd_vel, geomety_msgs/Twist, http://192.168.4.100:50051 http://192.168.4.100:11311 67

70. 70

71. 71

72. 72http://www.ros.org/core-components/

75. 75

76. 76

77. 77

78. 78

80. ROS SLAM ROS Seminar @ Busan Section 2 2015/07/08 www.facebook.com/yoonseok.pyo

83. 83

84. ? ;; 84

85. 85

86. ? OTL... ! ;; 86

87. ~ ! ? 87

88. Wikimol, CC BY-SA 3.0 1. . 2. . 3. (). - - 88

89. Ciaran Griffin, http://www.gettyimages.com 1. . 2. . 3. (). - - 89

90. ? 90

91. http://www.pinterest.com/jerodor/cagaduisimo/ 91

92. Big Dipper, by Magnus Manske, Public Domain pixabay.com, CC0 92

93. ! 93

94. ( .) 94

95. A B ! ! 95

96. A B ! ! : / : , : : 96

97. StarGazer Vicon MXEstimote (Beacon) 97

98. Kobuki 98

99. 99

100. 100

101. pixabay.com, CC0 ! OK! , , , ? , ? 101

102. pixabay.com, CC0 ! OK! , , , ? , ? ? ! SLAM (Simultaneous Localization And Mapping) ? 102

103. https://students.cs.byu.edu/~cs470ta, http://vimeo.com/3423169 103

104. pixabay.com, CC0, www.willowgarage.com CC BY 3.0 104

105. + ++ SLAM Navigation 105pixabay.com, CC0, www.willowgarage.com CC BY 3.0

107. https://www.openslam.org/gmapping.html 107

108. 108

109. $ sudo apt-get install ros-indigo-kobuki* ros-indigo-gmapping ros-indigo-navigation $ sudo apt-get install ros-indigo-urg-node $ cd ~/catkin_ws/src $ git clone https://github.com/oroca/oroca-ros-pkg.git $ cd ~/catkin_ws && catkin_make 109

110. $ roscore $ roslaunch kobuki_node minimal.launch $ sudo chmod a+rw /dev/ttyACM0 $ roslaunch kobuki_slam kobuki_slam.launch $ rosrun rviz rviz -d `rospack find kobuki_slam`/rviz/kobuki_slam.rviz $ roslaunch kobuki_keyop safe_keyop.launch $ rosrun map_server map_saver 110

111. 111 https://youtu.be/XB1s0Y4oFJI

112. 2 (OGM, Occupancy Grid Map) = (free area) = (occupied area) = (unknown area) 112

113. 113

114. SLAM, Navigation ? SLAM, Navigation . . 114

115. SLAM, Navigation ? . , , . . SLAM, Navigation ? SLAM, Navigation . . 115

116. 116

117. http://en.wikipedia.org/wiki/Kalman_filter, CC0 117

118. S. Thrun, W. Burgard, and D. Fox. Probabilistic Robotics. MIT Press, Cambridge, MA, 2005. 118

120. 120http://wiki.ros.org/navigation

121. 121 https://youtu.be/xCRsszVAP1E

122. Dynamic Window D. Fox, W. Burgard and S. Thrun, The dynamic window approach to collision avoidance, IEEE Robotics & Automation Magazine 122

123. Goal 123

124. Goal 124

125. Goal 125

126. SLAM, Navigation ? . , , . . SLAM, Navigation ? SLAM, Navigation . . 126

127. ~

128. MoveIt! ROS Seminar @ Busan Section 3 2015/07/08 www.facebook.com/yoonseok.pyo

131. ? 131

132. 132http://www.hottoys.com.hk/

133. http://www.hottoys.com.hk/ 133

134. ~ ! 134

135. (unimate), 1961 ~ http://en.wikipedia.org/wiki/Unimate 135

137. (SCARA) http://www.ait.kyushu-u.ac.jp/ 137

138. (SCARA) 138http://www.ait.kyushu-u.ac.jp/

139. http://www.robotis.com/ 6th axis 5th axis 4th axis 3rd axis 2nd axis 1st axis (revolute joint) (link) 139

140. http://www.theroboticschallenge.org/http://www.robotis.com/ ! 6th axis 5th axis 4th axis 3rd axis 2nd axis 1st axis (revolute joint) (link) 140

141. 141 CHIMP (TARTAN RESCUE) Aero DRC (TEAM AERO) HRP2+ (TEAM AIST-NEDO) DRC-Hubo (TEAM DRC-HUBO AT UNLV) Cog-Burn (TEAM GRIT) Johnny 05 (TEAM HECTOR) Atlas (TEAM HKU) HRP-2 (Team HRP2-Tokyo) Running Man (Team IHMC Robotics) Xing Tian (Team Intelligent Pioneer) DRC-HUBO (Team KAIST) Helios (Atlas) (Team MIT) Hydra (Team NEDO-Hydra) JAXON (Team NEDO-JSK) Momaro (Team NimbRo Rescue) RoboSimian (Team RoboSimian) THORMANG (Team ROBOTIS) THORMANG (Team SNU) THOR-RD (Team THOR) Hercules (Team TRAC Labs) LEO (Team TROOPER) ESCHER (Team VALOR) Florian (Team ViGIR) WALK-MAN (Team WALK-MAN) WARNER (Team WPI-CMU) http://www.theroboticschallenge.org/teams

143. Yaskawa SmartPal V 143

144. 144 https://youtu.be/4VtDHWiN0as

145. ? ! 145

146. ? ! ! ! (^^)/ 146

147. , ! 147

148. 148

149. x y z 3 ! (x,y,z) (work space): (x, y, z) (, , ) 149

150. http:// www.neo-tex.com x y z 3 ! (x,y,z) http://www.robotis.com/ ? . ^^;; (1, 2, 6) (work space): (x, y, z) (, , ) 6th axis 5th axis 4th axis 3rd axis 2nd axis 1st axis (joint space): (123...) 150

151. http://www.tbotech.com/sodacansafe.htm x y z (x, y, z) (, , ) roll() pithch() yaw() 6 / = 6 151

152. x y z (x, y, z) (, , ) roll() pithch() yaw() 6th axis 5th axis 4th axis 3rd axis 2nd axis 1st axis http://www.robotis.com http://www.tbotech.com/sodacansafe.htm 6 / = 6 6 , = 6 152

153. 153

154. 154

156. ! 156

157. . ! 157

158. 158 https://youtu.be/dblCGZzeUqs

159. 159http://wiki.ros.org/ROS/Patterns/RobotModelling

160. URDF(Universal Robot Description Format) RViz SRDF(Semantic Robot Description Format) MoveIt! SDF(Simulation Description Format) Gazebo URDF 160http://wiki.ros.org/ROS/Patterns/RobotModelling

161. $ cd ~/catkin_ws/src $ catkin_create_pkg testbot_description urdf $ cd testbot_description $ mkdir urdf $ cd urdf $ gedit testbot.urdf 1 2 3 1 2 3 4 161 () https://github.com/oroca/rosbook_robot_arm/ blob/master/testbot_description/urdf/testbot.urdf

162. 1 2 3 1 2 3 4 162

163. 1 2 3 1 2 3 4 163

164. $ check_urdf testbot.urdf robot name is: test_robot ---------- Successfully Parsed XML --------------- root Link: base has 1 child(ren) child(1): link1 child(1): link2 child(1): link3 child(1): link4 $ urdf_to_graphiz testbot.urdf Created file test_robot.gv Created file test_robot.pdf 164

165. $ roslaunch testbot_description testbot.launch $ rosrun rviz rviz 165

166. 166

167. 167 https://youtu.be/pLG6DGtFoOg

168. (Jorge Santos, CC BY 3.0) $ cd ~/catkin_ws/src $ git clone https://github.com/turtlebot/turtlebot_arm.git 168

169. $ roslaunch turtlebot_arm_description test.launch $ rosrun rviz rivz 169 https://youtu.be/ZgrUVjANkBQ

171. http://moveit.ros.org/documentation/concepts/ 171

172. $ roslaunch moveit_setup_assistant setup_assistant.launch 172

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176. 176

177. 177

178. 178

179. 179

180. 180

181. 181

182. $ roslaunch turtlebot_arm_moveit_config turtlebot_arm_moveit.launch 182

183. 183 https://youtu.be/5rMv3ZDyFwQ

184. 184

185. $ sudo apt-get install ros-indigo-dynamixel* $ sudo apt-get install ros-indigo-arbotix* $ roslaunch turtlebot_arm_bringup arm.launch --screen $ roslaunch turtlebot_arm_moveit_config turtlebot_arm_moveit.launch sim:=false screen 185

186. 186

187. 187

188. !

189. ! ! ROS ! ~

190. ! ~ www.oroca.org , , (KOS-ROBOT) www.facebook.com/groups/KoreanRobotics ? ~

191. Yoonseok Pyo [email protected] www.robotpilot.net www.facebook.com/yoonseok.pyo ~ ! *^^* .

20150708 ros seminar_in_busan_korea

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