Modellsimulation in Webots und Simulationen mit ROS2 - Versionsgeschichte

Arfat Kamal: /* Weiterführende Links */

2022-03-20T22:24:32Z

Weiterführende Links

← Nächstältere Version		Version vom 21. März 2022, 00:24 Uhr
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	----		----
	→ zurück zum Hauptartikel: [[Praxissemester_Projektteam_WS2021\|Praxissemester Projektteam WS2021]]		→ zurück zum Hauptartikel: [[Praxissemester_Projektteam_WS2021\|Praxissemester Projektteam WS2021]]

			1. https://cyberbotics.com/doc/guide/tutorial-6-4-wheels-robot
			2. https://www.youtube.com/watch?v=oyVITlwb8Lk&list=PLt69C9MnPchlWEV5AEhfT2HajlE2SJ55V&index=6&t=584s

Arfat Kamal: /* Overview */

2022-03-20T22:23:00Z

Overview

← Nächstältere Version		Version vom 21. März 2022, 00:23 Uhr
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	<br clear=all>		<br clear=all>
	Video 3 is a demonstration how the alphabot runs as an obstacle avoiding robot using sonar sensor in Webots. The code that runs the simulation, can be found in webots_ros2_alphabot package inside the SVN URL : https://svn.hshl.de/svn/Robotik_und_Autonome-Systeme/trunk/Projekte/AlphaBot_PI_ROS2/		Video 3 is a demonstration how the alphabot runs as an obstacle avoiding robot using sonar sensor in Webots. The code that runs the simulation, can be found in webots_ros2_alphabot package inside the SVN URL : https://svn.hshl.de/svn/Robotik_und_Autonome-Systeme/trunk/Projekte/AlphaBot_PI_ROS2/

	~~=== Demo-Programs ===~~
	~~=== Software ===~~

	== [[Zusammenfassung_Praxissemester_Kamal\|Summary]] ==		== [[Zusammenfassung_Praxissemester_Kamal\|Summary]] ==

Arfat Kamal: /* Sonar Obstacle Avoidance with ROS2 */

2022-03-20T22:22:21Z

Sonar Obstacle Avoidance with ROS2

← Nächstältere Version		Version vom 21. März 2022, 00:22 Uhr
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	==== Sonar Obstacle Avoidance with ROS2 ====		==== Sonar Obstacle Avoidance with ROS2 ====
	To simulate our robot with sonar, once again we need to do some modification to our 3D model to make it resemble the Alphabot. We need to add a servo motor on top of the robot and attach a sonar sensor with the servo motor so the sonar sensor can get distance data from right and left side as the servo rotates.		To simulate our robot with sonar, once again we need to do some modification to our 3D model to make it resemble the Alphabot. We need to add a servo motor on top of the robot and attach a sonar sensor with the servo motor so the sonar sensor can get distance data from right and left side as the servo rotates.


	===== Adding Servo and Sonar =====		===== Adding Servo and Sonar =====

Arfat Kamal: /* Sonar Obstacle Avoidance with ROS2 */

2022-03-20T22:22:00Z

Sonar Obstacle Avoidance with ROS2

← Nächstältere Version		Version vom 21. März 2022, 00:22 Uhr
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	==== Sonar Obstacle Avoidance with ROS2 ====		==== Sonar Obstacle Avoidance with ROS2 ====
	To simulate our robot with sonar, once again we need to do some modification to our 3D model to make it resemble the Alphabot. We need to add a servo motor on top of the robot and attach a sonar sensor with the servo motor so the sonar sensor can get distance data from right and left side as the servo rotates.		To simulate our robot with sonar, once again we need to do some modification to our 3D model to make it resemble the Alphabot. We need to add a servo motor on top of the robot and attach a sonar sensor with the servo motor so the sonar sensor can get distance data from right and left side as the servo rotates.


	===== Adding Servo and Sonar =====		===== Adding Servo and Sonar =====
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	<br clear=all>		<br clear=all>
	Figure 33 is a rqt graph that demonstrates how different nodes are communicating with each other for running the alphabot for avoiding obstacles. Here the slave node is connected with the sensors and actuators. The slave gets the sensor data from the three topics 'ultrasonic_sensor', 'ultrasonic_right' and 'ultrasonic_left', then publishes the sensor data to the master. The master node subscribes to sensor topics to get the sensor data and take decision for avoiding obstacle using the obstacle avoiding algorithm and sends 'string' messages as commands to slave. Slave receives the messages and act accordingly by moving the actuators, which are the motors attached to the wheels in this case.		Figure 33 is a rqt graph that demonstrates how different nodes are communicating with each other for running the alphabot for avoiding obstacles. Here the slave node is connected with the sensors and actuators. The slave gets the sensor data from the three topics 'ultrasonic_sensor', 'ultrasonic_right' and 'ultrasonic_left', then publishes the sensor data to the master. The master node subscribes to sensor topics to get the sensor data and take decision for avoiding obstacle using the obstacle avoiding algorithm and sends 'string' messages as commands to slave. Slave receives the messages and act accordingly by moving the actuators, which are the motors attached to the wheels in this case.


	===== Simulation =====		===== Simulation =====

Arfat Kamal: /* Rqt Graph */

2022-03-20T22:19:52Z

Rqt Graph

← Nächstältere Version		Version vom 21. März 2022, 00:19 Uhr
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	===== Rqt Graph =====		===== Rqt Graph =====
	[[Datei:Rqt_Graph.png\|thumb\|left\|mini\|~~550px~~\|Fig. 33: Rqt Graph]]		[[Datei:Rqt_Graph.png\|thumb\|left\|mini\|650px\|Fig. 33: Rqt Graph]]
	<br clear=all>		<br clear=all>
	Figure 33 is a rqt graph that demonstrates how different nodes are communicating with each other for running the alphabot for avoiding obstacles. Here the slave node is connected with the sensors and actuators. The slave gets the sensor data from the three topics 'ultrasonic_sensor', 'ultrasonic_right' and 'ultrasonic_left', then publishes the sensor data to the master. The master node subscribes to sensor topics to get the sensor data and take decision for avoiding obstacle using the obstacle avoiding algorithm and sends 'string' messages as commands to slave. Slave receives the messages and act accordingly by moving the actuators, which are the motors attached to the wheels in this case.		Figure 33 is a rqt graph that demonstrates how different nodes are communicating with each other for running the alphabot for avoiding obstacles. Here the slave node is connected with the sensors and actuators. The slave gets the sensor data from the three topics 'ultrasonic_sensor', 'ultrasonic_right' and 'ultrasonic_left', then publishes the sensor data to the master. The master node subscribes to sensor topics to get the sensor data and take decision for avoiding obstacle using the obstacle avoiding algorithm and sends 'string' messages as commands to slave. Slave receives the messages and act accordingly by moving the actuators, which are the motors attached to the wheels in this case.


	===== Simulation =====		===== Simulation =====

Arfat Kamal: /* Simulation */

2022-03-20T21:18:18Z

Simulation

← Nächstältere Version		Version vom 20. März 2022, 23:18 Uhr
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	[[Datei:alphabot.mp4\|thumb\|left\|mini\|550px\|Video 3: Alphabot Simulation]]		[[Datei:alphabot.mp4\|thumb\|left\|mini\|550px\|Video 3: Alphabot Simulation]]
	<br clear=all>		<br clear=all>
			Video 3 is a demonstration how the alphabot runs as an obstacle avoiding robot using sonar sensor in Webots. The code that runs the simulation, can be found in webots_ros2_alphabot package inside the SVN URL : https://svn.hshl.de/svn/Robotik_und_Autonome-Systeme/trunk/Projekte/AlphaBot_PI_ROS2/

	=== Demo-Programs ===		=== Demo-Programs ===

Arfat Kamal: /* Sonar Obstacle Avoidance with ROS2 */

2022-03-20T21:14:11Z

Sonar Obstacle Avoidance with ROS2

← Nächstältere Version		Version vom 20. März 2022, 23:14 Uhr
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	<br clear=all>		<br clear=all>
	Figure 33 is a rqt graph that demonstrates how different nodes are communicating with each other for running the alphabot for avoiding obstacles. Here the slave node is connected with the sensors and actuators. The slave gets the sensor data from the three topics 'ultrasonic_sensor', 'ultrasonic_right' and 'ultrasonic_left', then publishes the sensor data to the master. The master node subscribes to sensor topics to get the sensor data and take decision for avoiding obstacle using the obstacle avoiding algorithm and sends 'string' messages as commands to slave. Slave receives the messages and act accordingly by moving the actuators, which are the motors attached to the wheels in this case.		Figure 33 is a rqt graph that demonstrates how different nodes are communicating with each other for running the alphabot for avoiding obstacles. Here the slave node is connected with the sensors and actuators. The slave gets the sensor data from the three topics 'ultrasonic_sensor', 'ultrasonic_right' and 'ultrasonic_left', then publishes the sensor data to the master. The master node subscribes to sensor topics to get the sensor data and take decision for avoiding obstacle using the obstacle avoiding algorithm and sends 'string' messages as commands to slave. Slave receives the messages and act accordingly by moving the actuators, which are the motors attached to the wheels in this case.


			===== Simulation =====
			[[Datei:alphabot.mp4\|thumb\|left\|mini\|550px\|Video 3: Alphabot Simulation]]
			<br clear=all>

	=== Demo-Programs ===		=== Demo-Programs ===

Arfat Kamal: /* Rqt Graph */

2022-03-20T21:09:15Z

Rqt Graph

← Nächstältere Version		Version vom 20. März 2022, 23:09 Uhr
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	[[Datei:Rqt_Graph.png\|thumb\|left\|mini\|550px\|Fig. 33: Rqt Graph]]		[[Datei:Rqt_Graph.png\|thumb\|left\|mini\|550px\|Fig. 33: Rqt Graph]]
	<br clear=all>		<br clear=all>
			Figure 33 is a rqt graph that demonstrates how different nodes are communicating with each other for running the alphabot for avoiding obstacles. Here the slave node is connected with the sensors and actuators. The slave gets the sensor data from the three topics 'ultrasonic_sensor', 'ultrasonic_right' and 'ultrasonic_left', then publishes the sensor data to the master. The master node subscribes to sensor topics to get the sensor data and take decision for avoiding obstacle using the obstacle avoiding algorithm and sends 'string' messages as commands to slave. Slave receives the messages and act accordingly by moving the actuators, which are the motors attached to the wheels in this case.

	=== Demo-Programs ===		=== Demo-Programs ===

Arfat Kamal: /* Rqt Graph */

2022-03-20T20:55:57Z

Rqt Graph

← Nächstältere Version		Version vom 20. März 2022, 22:55 Uhr
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	===== Rqt Graph =====		===== Rqt Graph =====
	[[Datei:Rqt_Graph.png\|thumb\|left\|mini\|~~450px~~\|Fig. 33: Rqt Graph]]		[[Datei:Rqt_Graph.png\|thumb\|left\|mini\|550px\|Fig. 33: Rqt Graph]]
	<br clear=all>		<br clear=all>

Arfat Kamal: /* Rqt Graph */

2022-03-20T20:55:45Z

Rqt Graph

← Nächstältere Version		Version vom 20. März 2022, 22:55 Uhr
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	===== Rqt Graph =====		===== Rqt Graph =====
	[[Datei:Rqt_Graph.png\|thumb\|left\|mini\|~~300px~~\|Fig. 33: Rqt Graph]]		[[Datei:Rqt_Graph.png\|thumb\|left\|mini\|450px\|Fig. 33: Rqt Graph]]
	<br clear=all>		<br clear=all>