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Simon Markus Haller-Seeber
minibot
Commits
462a556a
Commit
462a556a
authored
Aug 19, 2021
by
Simon Markus Haller-Seeber
Browse files
Added Documentation. Finalized ARM URDF, MiniBOt URDF. Added display launchfile
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53c430e6
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catkin_ws/src/lss_4dof/lss_4dof_description/model/lss_4dof.urdf.xacro
...c/lss_4dof/lss_4dof_description/model/lss_4dof.urdf.xacro
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catkin_ws/src/minibot/meshes/realsense_mount.stl
catkin_ws/src/minibot/meshes/realsense_mount.stl
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catkin_ws/src/minibot/model/d435.urdf.xacro
catkin_ws/src/minibot/model/d435.urdf.xacro
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catkin_ws/src/minibot/model/minibot.urdf.xacro
catkin_ws/src/minibot/model/minibot.urdf.xacro
+8
-4
docs/3dPrints/Realsense LSS.stl
docs/3dPrints/Realsense LSS.stl
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-0
jetson-nano-buildenv/README.md
jetson-nano-buildenv/README.md
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catkin_ws/src/lss_4dof/lss_4dof_description/model/lss_4dof.urdf.xacro
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...
...
@@ -161,7 +161,7 @@
<xacro:insert_block
name=
"negligible_inertia"
/>
</inertial>
<visual>
<origin
xyz=
"0.01
6
0.0127 -0.0128"
rpy=
"0 0 0"
/>
<origin
xyz=
"0.01
35
0.0127 -0.0128"
rpy=
"0 0 0"
/>
<geometry>
<mesh
filename=
"package://lss_4dof_description/meshes/Link_4.stl"
scale=
"0.001 0.001 0.001"
/>
</geometry>
...
...
catkin_ws/src/minibot/meshes/realsense_mount.stl
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catkin_ws/src/minibot/model/d435.urdf.xacro
0 → 100644
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<?xml version="1.0"?>
<!--
License: Apache 2.0. See LICENSE file in root directory.
Copyright(c) 2017 Intel Corporation. All Rights Reserved
This is the URDF model for the Intel RealSense 430 camera, in it's
aluminum peripherial evaluation case.
-->
<robot
name=
"sensor_d435"
xmlns:xacro=
"http://ros.org/wiki/xacro"
>
<xacro:macro
name=
"sensor_d435"
params=
"parent *origin"
>
<xacro:property
name=
"M_PI"
value=
"3.1415926535897931"
/>
<!-- The following values are approximate, and the camera node
publishing TF values with actual calibrated camera extrinsic values -->
<xacro:property
name=
"d435_cam_depth_to_left_ir_offset"
value=
"0.0"
/>
<xacro:property
name=
"d435_cam_depth_to_right_ir_offset"
value=
"-0.050"
/>
<xacro:property
name=
"d435_cam_depth_to_color_offset"
value=
"0.015"
/>
<!-- The following values model the aluminum peripherial case for the
D435 camera, with the camera joint represented by the actual
peripherial camera tripod mount -->
<xacro:property
name=
"d435_cam_width"
value=
"0.090"
/>
<xacro:property
name=
"d435_cam_height"
value=
"0.025"
/>
<xacro:property
name=
"d435_cam_depth"
value=
"0.02505"
/>
<xacro:property
name=
"d435_cam_mount_from_center_offset"
value=
"0.0149"
/>
<!-- The following offset is relative the the physical D435 camera peripherial
camera tripod mount -->
<xacro:property
name=
"d435_cam_depth_px"
value=
"${d435_cam_mount_from_center_offset}"
/>
<xacro:property
name=
"d435_cam_depth_py"
value=
"0.0175"
/>
<xacro:property
name=
"d435_cam_depth_pz"
value=
"${d435_cam_height/2}"
/>
<material
name=
"aluminum"
>
<color
rgba=
"0.5 0.5 0.5 1"
/>
</material>
<!-- camera body, with origin at bottom screw mount -->
<joint
name=
"camera_joint"
type=
"fixed"
>
<xacro:insert_block
name=
"origin"
/>
<parent
link=
"${parent}"
/>
<child
link=
"camera_bottom_screw_frame"
/>
</joint>
<link
name=
"camera_bottom_screw_frame"
/>
<joint
name=
"camera_link_joint"
type=
"fixed"
>
<origin
xyz=
"0 ${d435_cam_depth_py} ${d435_cam_depth_pz}"
rpy=
"0 0 0"
/>
<parent
link=
"camera_bottom_screw_frame"
/>
<child
link=
"camera_link"
/>
</joint>
<link
name=
"camera_link"
>
<visual>
<origin
xyz=
"${d435_cam_mount_from_center_offset} ${-d435_cam_depth_py} 0"
rpy=
"${M_PI/2} 0 ${M_PI/2}"
/>
<geometry>
<!-- <box size="${d435_cam_width} ${d435_cam_height} ${d435_cam_depth}"/> -->
<mesh
filename=
"package://realsense2_camera/meshes/d435.dae"
/>
<!--<mesh filename="package://realsense2_camera/meshes/d435/d435.dae" />-->
</geometry>
<material
name=
"aluminum"
/>
</visual>
<collision>
<origin
xyz=
"0 ${-d435_cam_depth_py} 0"
rpy=
"0 0 0"
/>
<geometry>
<box
size=
"${d435_cam_depth} ${d435_cam_width} ${d435_cam_height}"
/>
</geometry>
</collision>
<inertial>
<!-- The following are not reliable values, and should not be used for modeling -->
<mass
value=
"0.564"
/>
<origin
xyz=
"0 0 0"
/>
<inertia
ixx=
"0.003881243"
ixy=
"0.0"
ixz=
"0.0"
iyy=
"0.000498940"
iyz=
"0.0"
izz=
"0.003879257"
/>
</inertial>
</link>
<!-- camera depth joints and links -->
<joint
name=
"camera_depth_joint"
type=
"fixed"
>
<origin
xyz=
"0 0 0"
rpy=
"0 0 0"
/>
<parent
link=
"camera_link"
/>
<child
link=
"camera_depth_frame"
/>
</joint>
<link
name=
"camera_depth_frame"
/>
<joint
name=
"camera_depth_optical_joint"
type=
"fixed"
>
<origin
xyz=
"0 0 0"
rpy=
"${-M_PI/2} 0 ${-M_PI/2}"
/>
<parent
link=
"camera_depth_frame"
/>
<child
link=
"camera_depth_optical_frame"
/>
</joint>
<link
name=
"camera_depth_optical_frame"
/>
<!-- camera left IR joints and links -->
<joint
name=
"camera_left_ir_joint"
type=
"fixed"
>
<origin
xyz=
"0 ${d435_cam_depth_to_left_ir_offset} 0"
rpy=
"0 0 0"
/>
<parent
link=
"camera_depth_frame"
/>
<child
link=
"camera_left_ir_frame"
/>
</joint>
<link
name=
"camera_left_ir_frame"
/>
<joint
name=
"camera_left_ir_optical_joint"
type=
"fixed"
>
<origin
xyz=
"0 0 0"
rpy=
"${-M_PI/2} 0 ${-M_PI/2}"
/>
<parent
link=
"camera_left_ir_frame"
/>
<child
link=
"camera_left_ir_optical_frame"
/>
</joint>
<link
name=
"camera_left_ir_optical_frame"
/>
<!-- camera right IR joints and links -->
<joint
name=
"camera_right_ir_joint"
type=
"fixed"
>
<origin
xyz=
"0 ${d435_cam_depth_to_right_ir_offset} 0"
rpy=
"0 0 0"
/>
<parent
link=
"camera_depth_frame"
/>
<child
link=
"camera_right_ir_frame"
/>
</joint>
<link
name=
"camera_right_ir_frame"
/>
<joint
name=
"camera_right_ir_optical_joint"
type=
"fixed"
>
<origin
xyz=
"0 0 0"
rpy=
"${-M_PI/2} 0 ${-M_PI/2}"
/>
<parent
link=
"camera_right_ir_frame"
/>
<child
link=
"camera_right_ir_optical_frame"
/>
</joint>
<link
name=
"camera_right_ir_optical_frame"
/>
<!-- camera color joints and links -->
<joint
name=
"camera_color_joint"
type=
"fixed"
>
<origin
xyz=
"0 ${d435_cam_depth_to_color_offset} 0"
rpy=
"0 0 0"
/>
<parent
link=
"camera_depth_frame"
/>
<child
link=
"camera_color_frame"
/>
</joint>
<link
name=
"camera_color_frame"
/>
<joint
name=
"camera_color_optical_joint"
type=
"fixed"
>
<origin
xyz=
"0 0 0"
rpy=
"${-M_PI/2} 0 ${-M_PI/2}"
/>
<parent
link=
"camera_color_frame"
/>
<child
link=
"camera_color_optical_frame"
/>
</joint>
<link
name=
"camera_color_optical_frame"
/>
</xacro:macro>
</robot>
catkin_ws/src/minibot/model/minibot.urdf.xacro
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462a556a
...
...
@@ -3,6 +3,7 @@
<xacro:include
filename=
"$(find sphero_rvr_description)/model/sphero_rvr.urdf.xacro"
/>
<xacro:include
filename=
"$(find lss_4dof_description)/model/lss_4dof.urdf.xacro"
/>
<xacro:include
filename=
"$(find minibot)/model/d435.urdf.xacro"
/>
<xacro:lss_4dof
name=
"lss_4dof"
parent=
"battery_holder_link"
>
<origin
xyz=
"0.0 -0.0465 0.019"
rpy=
"0 0 ${M_PI/2}"
/>
...
...
@@ -77,21 +78,24 @@
<xacro:insert_block
name=
"negligible_inertia"
/>
</inertial>
<visual>
<origin
xyz=
"0.0
0.0
0.0"
rpy=
"0 0
0
"
/>
<origin
xyz=
"0.0
545 -0.0523
0.0
385
"
rpy=
"0 0
${M_PI/2}
"
/>
<geometry>
<mesh
filename=
"package://minibot/meshes/realsense_mount.stl"
scale=
"0.001 0.001 0.001"
/>
</geometry>
<material
name=
"White"
/>
<material
name=
"
Arm/
White"
/>
</visual>
<collision>
<origin
xyz=
"0.0 0.0 0.0
42
"
rpy=
"0 0 0"
/>
<origin
xyz=
"0.0 0.0 0.0"
rpy=
"0 0 0"
/>
<geometry>
<box
size=
"0.0
6
0.03 0.0
4
"
/>
<box
size=
"0.0
5
0.03 0.0
3
"
/>
</geometry>
</collision>
</link>
<sensor_d435
parent=
"camera_mount_link"
>
<origin
xyz=
"0.0 0.022 0.055"
rpy=
"0 -${M_PI/2} -${M_PI/2}"
/>
</sensor_d435>
</xacro:macro>
</robot>
docs/3dPrints/Realsense LSS.stl
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jetson-nano-buildenv/README.md
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## Nvidia Jetson Ubuntu Image
This directory contains scripts and configurations to rebuild the Nvidia Jetson Image [0] for our minibot. It is based on work of pythops [1].
-
[x] Build a Base Jetson Nano Ubuntu 20.04 image. This is based on https://github.com/pythops/jetson-nano-image/
-
[x] ROS Noetic from the Ubuntu Repos
-
[x] Nvidia, Intel Drivers from Manufacturer and/or Ubuntu Repos
-
[x] Clone this repo for the Hardware Drivers and ROS Packages (Sphero RVR, Lynxmotion Arm, Intel Realsense)
-
[ ] Include Vision Part of LeoBot (https://git.uibk.ac.at/RoboCupTeamTyrolics/robocupatwork)
-
[ ] Test Yolo Nano https://arxiv.org/abs/2107.08430 ("0.91M parameters and 1.08G FLOPs, we get 25.3% AP on COCO")
**Note:**
This image is "minimal" and has no GUI interface. You need to connect via ssh - or at a later stage maybe via a webbrowser.
### Build Instruction
Exports:
```
export JETSON_NANO_BOARD=jetson-nano-2gb
export JETSON_BUILD_DIR=/mnt/EXT/jetson_nano
export JETSON_ROOTFS_DIR=/mnt/EXT/jetson-rootdir
```
#### Prepare the root file-system
```
sudo -E ./create-rootfs.sh
```
#### Use ansible to install apropriate files and configurations
```
cd ansible
sudo -E $(which ansible-playbook) jetson.yaml
cd ..
```
##### Create the sd card image and flash
```
sudo -E ./create-image.sh
# flash image with
sudo ./flash-image.sh /path/to/jetson.img /dev/mmcblk0
# or with balena and resize manually
balena-etcher-electron
# resize disk
sudo gprated
sudo e2fsck -f /dev/mmcblk0
sudo resize2fs -f /dev/mmblck0
```
#### More information on the Ubuntu Jetson Nano Base image
-
[0] https://docs.nvidia.com/jetson/l4t/index.html#page/Tegra%20Linux%20Driver%20Package%20Development%20Guide/updating_jetson_and_host.html
-
[1] https://github.com/pythops/jetson-nano-image/ (supported boards)
-
[
Jetson nano
](
https://developer.nvidia.com/embedded/jetson-nano-developer-kit
)
-
[
Jetson nano 2GB
](
https://developer.nvidia.com/embedded/jetson-nano-2gb-developer-kit
)
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