inct icmc usp player
DESCRIPTION
Curso de Programação de Robôs MóveisAula 01 - Introdução + Player-StageTRANSCRIPT
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CURSO DE PROGRAMAÇÃO CURSO DE PROGRAMAÇÃO DE DE
ROBÔS MÓVEISROBÔS MÓVEISUSP - ICMC – LRM: Laboratório de Robótica MóvelUSP - ICMC – LRM: Laboratório de Robótica Móvel
Profs. Denis Wolf, Eduardo Simões, Fernando Osório Profs. Denis Wolf, Eduardo Simões, Fernando Osório Alunos PG - Alberto Hata, Gustavo Pessin, Patrick Shinzato,Alunos PG - Alberto Hata, Gustavo Pessin, Patrick Shinzato,
Maurício Dias, Leandro Couto, Leandro FernandesMaurício Dias, Leandro Couto, Leandro Fernandes
PUC-RS – GSE: Grupo de Sistemas EmbarcadosPUC-RS – GSE: Grupo de Sistemas EmbarcadosProfs. Fabiano Hessel, Eduardo Bezerra, César MarconProfs. Fabiano Hessel, Eduardo Bezerra, César Marcon
Aluno - Luiz Eduardo GiampaoliAluno - Luiz Eduardo GiampaoliGAPH – Profs. Ney Calazans, Fernando MoraesGAPH – Profs. Ney Calazans, Fernando Moraes
Programação de Robôs Móveis São Carlos/SP e Porto Alegre/RS Setembro, 2009
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RobóticaRobótica
IP addresses and the port numbers of the components.
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Robôs Móveis - Aplicações
IP addresses and the port numbers of the components.
Guia de museu Mapeamento de minas
Navegação autônomaVerificação da qualidade da água
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Robô Guia em MuseuRobô Guia em Museu
IP addresses and the port numbers of the components.
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DireçãoDireção Autônoma AutônomaGrand Challenge 2004Grand Challenge 2004
IP addresses and the port numbers of the components.
106 equipes inscritas e 25 finalistas
Premio de US$1.000.000,00
Desafio: Percorrer 224km no deserto de forma autônoma
Melhor resultado: Red team (12km)
“Nobody won. Nobody even came close” - CNN
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DireçãoDireção Autônoma AutônomaGrand Challenge 2005Grand Challenge 2005
IP addresses and the port numbers of the components.
Premio de US$2.000.000,00
195 equipes inscritas,
23 finalistas
5 terminaram o percurso
Vencedor:Stanley
(Stanford University)
6h 53m
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DireçãoDireção Autônoma AutônomaUrban Challenge 2007Urban Challenge 2007
IP addresses and the port numbers of the components.
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DireçãoDireção Autônoma AutônomaUrban Challenge 2007Urban Challenge 2007
IP addresses and the port numbers of the components.
“none of the winning teams had taken any demerits for traffic violations, and that the winners had all been selected based on their finishing times “
“Tartan's vehicle averaged about 14 miles per hour throughout the course, which covered about 55 miles. Stanford averaged out 13 miles per hour, and Virginia Tech averaged a bit less than that “
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DireçãoDireção Autônoma AutônomaUrban Challenge 2007Urban Challenge 2007
IP addresses and the port numbers of the components.
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Robô Móvel Robô Móvel Modelo BásicoModelo Básico
IP addresses and the port numbers of the components.
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Robô Móvel Robô Móvel Sensores e AtuadoresSensores e Atuadores
IP addresses and the port numbers of the components.
Sensores internos: observam o estado do robô (odometria, GPS, giroscópios).
Sensores externos: observam o estado do ambiente (câmeras, sonares, lasers).
Atuadores: alteram o estado do robô e do ambiente (rodas, pernas, garras).
Odômetro (encoder)
Sonares
Laser
CâmeraGPS
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Controle e SimulaçãoControle e Simulação
IP addresses and the port numbers of the components.
• Player • Sistema para controle de robôs móveis• Suporta diversos tipos de robôs e sensores
• Stage• Simulador de robôs móveis e sensores• Ambientes bidimensionais• Compatível com Player
• Gazebo• Simulador de alta fidelidade• Ambientes em 3 dimensões• Compatível com Player
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Características do PlayerCaracterísticas do Player
IP addresses and the port numbers of the components.
• Software livre
• Modelo Cliente/Servidor
• Desenvolvido para sistemas Linux/Unix
• Comunicação baseada em sockets
• Clientes em: C, C++, Java, Python etc
• Interface de alto nível para acesso ao hardware
• Suporta grande quatidade de plataformas robóticas
e sensores comerciais
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Interface com o HardwareInterface com o Hardware
IP addresses and the port numbers of the components. Camera
Laser
Sonar
Odometria
Motores
Programa do usuário
Aquisição de dados dos sensores
Comandos para os motores
PCI
USB
Serial
…
SerialCanbus…
Planejamento
Deslocamentodesejado
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Interface com o HardwareInterface com o Hardware
IP addresses and the port numbers of the components.
Player
Camera
Laser
Sonar
Odometria
Motores
Programa do usuário
Aquisiçãode dadosdos sensores
Comandospara omotor
PCI
USB
Serial
…Planejamento
Deslocamentodesejado
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Abstração de HardwareAbstração de Hardware
IP addresses and the port numbers of the components.
Programado usuário
ServidorPlayer
BibliotecaCliente doPçayer
C/C++C#JavaTclPythonRubyLispOctave
HardwareDo Robô
SimuladorStage
SimuladorGazebo
ServidorPlayer
ServidorPlayer
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Modelo Cliente/ServidorModelo Cliente/Servidor
IP addresses and the port numbers of the components.
• Clientes podem se conectar a múltiplos servidores• Servidores aceitam conexão de múltiplos clientes• Diferentes programas/processos/threads podem processar dados de diferentes sensores do mesmo servidor.• Operação remota
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Download dos arquivosDownload dos arquivos
IP addresses and the port numbers of the components.1) Baixar o arquivo: curso.tgz
2) Descompactar os arquivos:tar –xzvf curso.tgz
3) Testar a compilação dos arquivos:make
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Inicializar o simulador Inicializar o simulador (stage)(stage)
IP addresses and the port numbers of the components.
4) Abrir mais 2 shells
5) Inicializar o simulador:cd mapas
player teste.cfg
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Testar o Controle do RobôTestar o Controle do Robô
IP addresses and the port numbers of the components.5) Testar o controle do robô:
(no 3o shell)playerv
6) Conectar no position:Devices → position2d:0 → subscribe → command
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Testar o Controle do RobôTestar o Controle do Robô
IP addresses and the port numbers of the components.7) Conectar ao sonar:
Devices → sonar:0 → subscribe
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Testar o Controle do RobôTestar o Controle do Robô
IP addresses and the port numbers of the components.8) Conectar no laser:
Devices → laser:0 → subscribe
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Testar o Controle do RobôTestar o Controle do Robô
IP addresses and the port numbers of the components.
9) Conectar no robô real:playerv -h <ip do robô real>