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https://github.com/Adlink-ROS/adlink_neuronbot

ROS2/DDS robot pkg for human following and swarm
https://github.com/Adlink-ROS/adlink_neuronbot

adlink dds ros ros2

Last synced: 25 days ago
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ROS2/DDS robot pkg for human following and swarm

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README 

        
# ADLINK NeuronBot



## Abstract  

The purpose of this pkg is to demonstrate two main features of ADLINK Neuron miniITX platform.   

1. Computing Power:   

   The host robot is able to follow human by integrating all outputs from SPENCER robot framework, intel "object analytics" pkg and laser based leg_tracker pkg.

   ADLINK Neuron illustates its computing power to run these detecting/tracking algorithms smoothly. (HOG+SVM, CNN, Template matching, EKF, MobileNetSSD, etc)  

2. ROS2/DDS Capabilities:  

   The host robot (for following) is publishing its own pose with respect to known map through ROS2/DDS layer while following a human.

   On the other hand, the client robot (random wandering), could avoid the host robot by receiving host's pose and replaning its path.   

   

[Official Slides] https://github.com/Adlink-ROS/adlink_neuronbot/blob/master/document/ADLINK_NeuronBot_20180313.pdf  

[Youtube Video] https://youtu.be/RC6XvTvTs9Y  

[Youtube Video] https://youtu.be/qA4_Hmnd_tM  

[![alt text](http://img.youtube.com/vi/RC6XvTvTs9Y/0.jpg)](https://youtu.be/RC6XvTvTs9Y)  



## Developers & Team

HaoChih Lin  

Alan Chen  

Chester Tseng  

Bill Wang  

Erik Boasson  

Ryan Chen  

  

ADLINK Technology, Inc  

Advanced Robotic Platform Group  



## License

Apache 2.0  

Copyright 2018 ADLINK Technology, Inc.  



## Tutorial

### System Prerequisite

[Packages]  

* Realsense D400  

  Source: https://github.com/intel-ros/realsense  

  Notice: About RealSense SDK 2.0, we highly recommed binary version.  

  Testing: $ roslaunch realsense2_camera demo_pointcloud.launch  

  


* Astra Pro OR Astra (alternative choose for camera)   

  Binary: $ sudo apt-get install ros-kinetic-astra*  

  Source: https://github.com/orbbec/ros_astra_camera  

  Notice: Remember to create udev. If possible, please buy Astra instead of Astra Pro!  

  


* YDLidar   

  Source: https://github.com/EAIBOT/ydlidar  

  Notice: Remember to laod udev. Could be replaced by any type of lidar.  

  Testing: $ roslaunch ydlidar x4.launch  

  


* Navigation  

  Binary: $ sudo apt-get install ros-kinetic-navigation*  

  Source: https://github.com/ros-planning/navigation  

  Notice: if "replan" mode of global planner is malfunctioned, please compile whole pkgs from source.  

  Testing: $ roslaunch spencer_people_tracking_launch tracking_on_bagfile.launch  

  


* SPENCER  

  Binary: https://github.com/spencer-project/spencer_people_tracking#installation-from-l-cas-package-repository  

  Source: https://github.com/spencer-project/spencer_people_tracking#installation-from-source  

  Notice: Unless you want to use HOG+SVM [CUDA required], we highly recommend binary version.  

  


* Intel object analytics  

  Source: https://github.com/intel/ros_object_analytics  

  Notice: Tested with NCSDK v1.12, ros_object_analytics should be "devel" branch  

  Testing:   

  ** movidius_ncs **  

     $ roslaunch realsense2_camera demo_pointcloud.launch  

     $ roslaunch movidius_ncs_launch ncs_camera.launch cnn_type:=mobilenetssd input_topic:=/camera/color/image_raw    

     $ roslaunch movidius_ncs_launch ncs_stream_detection_example.launch camera_topic:="/camera/color/image_raw"  

  ** object_analytics **  

     $ roslaunch realsense2_camera demo_pointcloud.launch  

     $ roslaunch object_analytics_launch analytics_movidius_ncs.launch input_points:=/camera/depth/color/points  

  


* leg_tracker  

  Source: https://github.com/angusleigh/leg_tracker  

  Notice: The kinetic branch only supports OpenCv 3.3 and higher ver.  

  Testing: $ roslaunch leg_tracker demo_stationary_simple_environment.launch  

  


* Turtlebot2  

  Binaty: $ sudo apt-get install ros-kinetic-turtlebot  

  Source: https://github.com/turtlebot/turtlebot  

  Notice: We highly recommed you to install binary version.  

  



### Launching Steps

* Mapping & Time Synchronizing  

* Host robot (for following)  

  $ roslaunch adlink_neuronbot NeuronBot_Demo_Host_AIO.launch  

  OR (script)  

  $ ./PATH_TO_WORKSPACE/adlink_neuronbot/autostart/NeuronBot_Demo_Host_AutoStart.sh  

* Client robot (for avoidance)  

  $ roslaunch adlink_neuronbot NeuronBot_Demo_Client_AIO.launch  

  OR (script)  

  $ ./PATH_TO_WORKSPACE/adlink_neuronbot/autostart/NeuronBot_Demo_Client_AutoStart.sh  



### Known Issues

* Q: move_base replanning does not work  

  A: update your move_base pkg to the latest one, or compile it from source  



### Roadmap

* Fix PCL detector  

* ROS2 driver for camera  

* Fix followMe node (fused inputs version)  

* Create custom ROS2/DDS msg  

* Integrate with object_analytics