Neuron NeuronBot
You can check the source code from NeuronBot repository
Abstract
The purpose of this pkg is to demonstrate two main features of ADLINK Neuron miniITX platform.
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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)
-
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
[ADLINK Neuron Release Video II]
Tutorial
System Prerequisite
[Packages]
-
Realsense D400
-
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)
- Source: https://github.com/orbbec/ros_astra_camera
- Binary:
$ sudo apt-get install ros-kinetic-astra*
- 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
- Binary:
-
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
- Binary:
$ sudo apt-get install ros-kinetic-turtlebot
- Source: https://github.com/turtlebot/turtlebot
- Notice: We highly recommed you to install binary version.
- Binary:
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
Developers & Team
- Ewing Kang
- 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.