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Progress_CoSpaceInGazeboROS

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Masaru Shimizu edited this page Apr 20, 2019 · 20 revisions

Progress of developing the package: CoSapce In Gazebo-ROS

Goals

  • Robots

    • Two robots: DONE
    • Different body colors: DONE
      • Plugin(libchange_body_color.so): DONE
    • Sensors
      • Camera: DONE
      • Three distance sensors: DONE
      • Two color sensors: DONE
      • Thermal Sensor for detecting victims and investigating the status of a victim: <-- not yet
    • Indicator
      • LED
        • Plugin(libchange_led_color.so): DONE
        • Turn Off: DONE
          $ rostopic pub -1 /ROBOT_1/led_switch std_msgs/Byte -- '0'
        • Turn On: DONE
          $ rostopic pub -1 /ROBOT_1/led_switch std_msgs/Byte -- '1'
        • Brinking pattern 1 (On:1sec, Off:1sec, On:1sec, Off:1sec, On:1sec, Off): DONE
          $ rostopic pub -1 /ROBOT_1/led_switch std_msgs/Byte -- '20'
        • Brinking pattern 2 (On:3sec, Off): DONE
          $ rostopic pub -1 /ROBOT_1/led_switch std_msgs/Byte -- '30'
    • Controle moving of a robot from ROS topic
      • /ROBOT_1/cmd_vel and /ROBOT_2/cmd_vel: DONE

  • Objects

    • Changing pose of the model:
      • Plugin(libObject_Manager.so): DONE(Partly)
        • Replace objects in random: DONE
        • Avoiding collision with other objects: DONE
        • Avoiding collision with inhibit areas: DONE
          $ roslaunch csrobot_ros spawn_csrobot_ros_match.launch
          $ rostopic pub -1 /ObjectManager/cmd_objmgr std_msgs/Byte '1'

  • Game Fields

    • 180cm X 240cm
      • Walls: DONE
      • Floor:
        • A model with a texture: DONE
      • Obstacles: DONE

  • Scoring Boards

    • Item indicators' topic name: DONE
      • Item indicators for ROBOT_1
        • Located right side of the field
        • led11_color, led12_color, ...., led17_color
        • Increasing number from center to the right
        • Sample command: Change the most centered item indicator color into RED.
          $ rostopic pub -1 /led11_color std_msgs/Byte '12'
      • Item indicators for ROBOT_2
        • Located left side of the field
        • led21_color, led22_color, ...., led27_color
        • Increasing number from center to the left
        • Sample command: Change the most centered item indicator color into BLUE.
          $ rostopic pub -1 /led21_color std_msgs/Byte '11'
      • Relationship between colors and numbers
        • 11:Blue, 12:Red, 13:Purple, 14:Green, 15:Cyan, 16:Yellow, 17:White, 10:Black
    • Display scores: DONE
      • Display ROBOT_1 score
        • Sample command: Display "ROBOT1:100" over the right side item indicators.
          $ gz marker -m 'action:ADD_MODIFY, type:TEXT, text:"ROBOT1:100", id:1, parent:"ScoreBoard1", pose:{position:{x:-0.4,y:0.0,z:0.5}},scale:{x:0.2,y:0.2,z:0.2}'
      • Display ROBOT_2 score
        • Sample command: Display "ROBOT2:300" over the right side item indicators.
          $ gz marker -m 'action:ADD_MODIFY, type:TEXT, text:"ROBOT2:300", id:2, parent:"ScoreBoard2", pose:{position:{x:-0.4,y:0.0,z:0.5}},scale:{x:0.2,y:0.2,z:0.2}'

  • Game Manager

    • At initializing a game:
      • Reading information from the texture of the floor: <-- not yet
    • Collecting objects and depositing objects:
      • When a robot detects an object:
        • Detecting of the detecting an object of a robot: <-- not yet
        • Flashing the LED of the robot at detecting an object: <-- not yet
      • At detecting the waiting of the robot after the detecting an object: <-- not yet
      • After detecting the waiting of the robot:
        • Detected object disappearing and moving new location: <-- not yet
        • Set indicators on a scoring board at detecting an object: <-- not yet
      • At depositing objects:
        • Reset indicators on a scoring board at detecting an object: <-- not yet
    • When a robot detects a trap:
      • Clear collected objects: <-- not yet

  • Automatic Scoring:

    • Calculate the score: <-- not yet
    • Output the score from a topic: <-- not yet

  • Things for the demonstrations

    • Launch files:
      • Spawning single robot on a sample game field: DONE
      • Spawning two robots on a sample game field: DONE

  • Things for the tutorials

    • Blockly tutorial:
      • Sample programs: <-- not yet
      • Tutorial Documents: <-- not yet
    • Scratch tutorial:
      • Sample programs: <-- not yet
      • Tutorial Documents: <-- not yet

Details or descriptions of plugins

libchange_body_color.so

libchange_led_color.so

Edit date: 11 Apr. 2019

Created in Cambridge in March 2019 by Josie Hughes, Masaru Shimizu, Arnoud Visser, Amirreza Kabiri and Fatemeh Pahlevan Aghababa. Continued in Sydney, Tehran, and Cambridge from July to December 2019.

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