ADLINK NeuronBot

March 27, 2018 · View on GitHub

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

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: sudoapt−getinstallros−kinetic−navigation∗Source:https://github.com/ros−planning/navigationNotice:if"replan"modeofglobalplannerismalfunctioned,pleasecompilewholepkgsfromsource.Testing: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 **
    roslaunchrealsense2camerademopointcloud.launchroslaunch realsense2_camera demo_pointcloud.launch roslaunch movidius_ncs_launch ncs_camera.launch cnn_type:=mobilenetssd input_topic:=/camera/color/image_raw
    roslaunchmovidiusncslaunchncsstreamdetectionexample.launchcameratopic:="/camera/color/imageraw"∗∗objectanalytics∗∗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)
    roslaunchadlinkneuronbotNeuronBotDemoHostAIO.launchOR(script)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)
    roslaunchadlinkneuronbotNeuronBotDemoClientAIO.launchOR(script)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