Programming NAO robot and Pioneer LX Research Platform
Robotics is rapidly expanding into human environments and vigorously engaged in its new challenges. Interacting with, assisting, serving, and exploring with humans, the emerging robots will increasingly touch people and their lives. This workshop will present and introduce some relevant tools to develop software for robotics, such as: Choregraphe and ROS. We will program applications related to human-robot interaction for Nao robot and Pioneer LX Research Platform.
Classroom A-301
April 4th
2:30 pm
This workshop concentrates on learning how to program NAO robots made by SoftBank Robotics, through Choregraphe software and Python. Example programs include text-to-speech, motion creation, sensors and stimuli detection.
Speaker: PhD. Student Bahar Irfan
PREVIOUS WORK
In the second part of this workshop you are going to learn about the Robotics Operative System (ROS) and how to interact with the robot Pioneer LX research platform. Furthermore, fundamentals of mapping and navigation will be covered, as well as external sensors integration.
Speakers: Jonathan Casas & Sergio Sierra
PREVIOUS WORK
Optional: Install Terminator to be able to work in different Terminals.
Nao Robot
1. Create a 10 second dance for Nao (Choose a colombian music) on Choregraphe for virtual robot. The robot should start dancing, when the right bumper (bumper on the right foot) is touched.
Hint: To simulate a touch on the virtual robot, double click on onEvent output of the respective box (i.e. the box for understanding the touch) and enter 1 as value.
Bonus points: The robot should play a song during the dance.
2. Using a Python file (NOT Choregraphe), take a picture when a face is detected. Save the picture on the folder where the file is located. The robot should say “Let me take a picture of you”, when a face is detected. This would need to be run on a real robot, so make sure your code is running properly, otherwise no points will be granted.
Pioneer LX Research Platform
1. Using Gazebo simulate the turtlebot. Visualize the nodes and topics graphic using rosrun rqt_graph rqt_graph, identify the velocity topic and publish to it different values from Terminal (Use rostopic pub).
2. Simulate Pioneer 3at robot using Gazebo and generate the transformations graphic running from Terminal: rosrun tf view_frames. Modify the teleop node (Located in ~/catkin_ws/src/rosaria_client/src) in order to modify the velocity steps. Make the node increase the velocity by duplicating its previous value. Also, change the teleoperation keys to W A S D.