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Reference

Robot Model

The discription file for the sensor locations is located at

~/ep_ws/src/ep_description/urdf/ep_description.xacro

The user should test the development in the client image at first.

To show the static TF tree:

scripts/shell.sh roslaunch ep_description ep_description.launch

EP-Robot-tf_tree

EP Robot tf_tree

EP-Robot-tf_tree

Robot frame axes:

Coordinate system Description Origin according to /base_link (m)
/base_link The robot center coordinate system is located at the center of the four Mecanum wheels,
and the height is on the plane where the centers of the four Mecanum wheels are located.		 X Front Y Left Z Upper
/laser_link Lidar coordinate (0.12, 0, 0.085)
/imu_link IMU coordinate (0, 0, 0.08)
/arm_link The base coordinate system of the robot arm (0, 0, 0.1)
/camera_bottom_screw_frame Realsense camera base screw positioning hole coordinate system,
as the standard for other coordinate systems of the camera		 (0.155, 0, -0.008)
/camera_link Realsense camera coodinate (0.165, 0.0175, 0.005)
/camera_depth_frame Depth coordinate of Realsense camera, sharing the same space with/camera_link (0.165, 0.0175, 0.005)
/camera_color_frame RGB coordinate of Realsense camera (0.165, 0.0325, 0.005)
/camera_aligned_depth_to_color_frame the coordinate of Realsense Depth image aligned to RGB coordinate,
sharing the same space with /camera_color_frame		 (0.165, 0.0325, 0.005)

/base_link

​Robot center coordinate system, located at the center point of the 4 Mecanum wheel.

/imu_link

​IMU coordinate system, the same as base_link.

/laser_link

​2D LiDAR coordinate system, located at the centrer front of the vehicle.

Equipped Sensors on EP

Type Model Parameters
Lidar SlamTech Rplidar A2 Scan Rate: $10hz$
Sample Rate: $16Khz$
Distance Range: $[10m, 25m]$
Minimal Operating Range: $0.2m$
IMU HiPNUC Hi226 6-axis IMU/VRU Frequency: $30hz$
Static Roll and Pitch Errors: $0.8°$
Static Roll and Pitch Angles Error Bound: $2.5°$
Bias Error of Gyroscope: $<10°/h$
Heading Angle Error When Moving (in 6-axis mode): $<10°$
RGB & Depth Camera Intel Realsense D435i Frequency: $30hz$
Resolution: $848\times480$
FOV: $69°\times42°$
Odometer RoboMaster SDK Frequency: $10hz$

Accurators

Actuator Recommend Range
chassis velocity control $0.1m/s\leq|v_x|\leq0.5m/s$
$0.1m/s\leq|v_y|\leq0.5m/s$
$0.01rad/s\leq|v_{th}|\leq0.5rad/s$
chassis position control $|x| \geq 0.1m$
$|y| \geq 0.1m$
$|\theta| \geq 0.1rad$
arm end position control while $0.09\leq x \leq 0.18$, should keep $y\ge 0.08$
while $x>0.18$, should keep $y\ge -0.08$
gripper control $x=1$ close gripper
$x=0$ open gripper

Environment and Coordinates Systems

challenge-field

The real environment are shown as above, along with the reference systems of the world and the EP.

The relative position of initial position of EP in the world reference is $(3.97, 0, 3.58)$.

ROS topics

Interation with (simulated) EP is done by ROS topics.

A complete list of subscribed/published rostopics are listed (rostopic list -v):

Published topics:
 * /rosout_agg [rosgraph_msgs/Log] 1 publisher
 * /rosout [rosgraph_msgs/Log] 7 publishers
 * /image_view_rgb/parameter_descriptions [dynamic_reconfigure/ConfigDescription] 1 publisher
 * /image_view_depth/parameter_updates [dynamic_reconfigure/Config] 1 publisher
 * /image_view_rgb/parameter_updates [dynamic_reconfigure/Config] 1 publisher
 * /image_view_depth/output [sensor_msgs/Image] 1 publisher
 * /image_view_rgb/output [sensor_msgs/Image] 1 publisher
 * /camera/color/image_raw [sensor_msgs/Image] 1 publisher
 * /camera/color/camera_info [sensor_msgs/CameraInfo] 1 publisher
 * /camera/aligned_depth_to_color/image_raw [sensor_msgs/Image] 1 publisher
 * /camera/aligned_depth_to_color/camera_info [sensor_msgs/CameraInfo] 1 publisher
 * /pointgoal_with_gps_compass [ros_x_habitat/PointGoalWithGPSCompass] 1 publisher
 * /gps [ros_x_habitat/PointGoalWithGPSCompass] 1 publisher
 * /imu/data_raw [sensor_msgs/Imu] 1 publisher
 * /tf [tf2_msgs/TFMessage] 1 publisher
 * /rplidar/scan [sensor_msgs/LaserScan] 1 publisher
 * /ep/odom [nav_msgs/Odometry] 1 publisher
 * /gripper_state [geometry_msgs/Point] 1 publisher

Subscribed topics:
 * /rosout [rosgraph_msgs/Log] 1 subscriber
 * /cmd_vel [geometry_msgs/Twist] 1 subscriber
 * /arm_gripper [geometry_msgs/Point] 1 subscriber
 * /arm_position [geometry_msgs/Pose] 1 subscriber
 * /cmd_position [geometry_msgs/Twist] 1 subscriber

Additional topics are used for debugging only:

Published topics:
 * /image_view_depth/parameter_descriptions [dynamic_reconfigure/ConfigDescription] 1 publisher
 * /image_view_third/parameter_descriptions [dynamic_reconfigure/ConfigDescription] 1 publisher
 * /image_view_third/parameter_updates [dynamic_reconfigure/Config] 1 publisher
 * /image_view_third/output [sensor_msgs/Image] 1 publisher
 * /third_rgb [sensor_msgs/Image] 1 publisher
 * /pose/cube_1 [geometry_msgs/Pose] 1 publisher
 * /pose/cube_2 [geometry_msgs/Pose] 1 publisher
 * /pose/cube_3 [geometry_msgs/Pose] 1 publisher
 * /pose/cube_4 [geometry_msgs/Pose] 1 publisher
 * /pose/cube_5 [geometry_msgs/Pose] 1 publisher
 * /position/target_1 [geometry_msgs/Point] 1 publisher
 * /position/target_2 [geometry_msgs/Point] 1 publisher
 * /position/target_3 [geometry_msgs/Point] 1 publisher
 * /pose/ep_world [geometry_msgs/Pose] 1 publisher
 * /judgement/exchange_markers [std_msgs/String] 1 publisher
 * /judgement/markers_time [std_msgs/String] 1 publisher

Subscribed topics:
 * /camera/aligned_depth_to_color/image_raw [sensor_msgs/Image] 1 subscriber
 * /camera/color/image_raw [sensor_msgs/Image] 1 subscriber
 * /third_rgb [sensor_msgs/Image] 1 subscriber
 * /pointgoal_with_gps_compass [ros_x_habitat/PointGoalWithGPSCompass] 1 subscriber
 * /gps/goal [move_base_msgs/MoveBaseActionGoal] 1 subscriber -->

Sensor Topics

Name Type Description
/ep/odom nav_msgs/Odometry Odometer data, including robot pose and speed information, are obtained by DJI master control.
/rplidar/scan sensor_msgs/LaserScan The two-dimensional lidar scanning data, including scene scanning information, is acquired by lidar because the occlusion range of the robot body includes 270° in front of the robot.
/imu/data_raw sensor_msgs/LaserScan IMU sensor data, including rotation, velocity, and acceleration information, are collected by the IMU.
/camera/color/camera_info sensor_msgs/CameraInfo RGB color image camera intrinsic parameter information.
/camera/color/image_raw sensor_msgs/Image RGB color image data, acquired by Realsense.
/camera/aligned_depth_to_color/camera_info sensor_msgs/CameraInfo Depth camera information.
/camera/aligned_depth_to_color/image_raw sensor_msgs/Image Depth image data, acquired by Realsense and aligned to RGB color images.

Accurator Topics

Name Type Description
/cmd_vel geometry_msgs/Twist Velocity command for the EP chassis.
Recommended ranges:
$0.1m/s\leq|v_x|\leq0.35m/s$
$0.1m/s\leq|v_y|\leq0.35m/s$
$0.1rad/s\leq|v_{th}|\leq0.5rad/s$
/cmd_position geometry_msgs/Twist Position command for the EP chassis.
Recommended ranges:
$0.1m\leq|x|$
$0.1m\leq|y|$
$0.1rad\leq|theta|$
/arm_position geometry_msgs/Pose Position control command for the Robotic arm.
Available ranges:
$0.09\leq x \leq 0.18$: $y\ge 0.08$
$x>0.18$: $y\ge -0.02$
/arm_gripper geometry_msgs/Point The commands for gripper.
Close: $x=1$
Open: $x=0$

Examples:

# Move EP forward for 0.1m
rostopic pub -1 /cmd_position geometry_msgs/Twist \
"linear:
  x: 0.1
  y: 0.0
  z: 0.0
angular:
  x: 0.0
  y: 0.0
  z: 0.0"
# Move the end of the robotic arm to x=0.09, y=0.1
rostopic pub -1 /arm_position geometry_msgs/Pose \
"position:
  x: 0.09
  y: 0.1
  z: 0.0
orientation:
  x: 0.0
  y: 0.0
  z: 0.0
  w: 0.0"
# the command issued now is tp close the gripper
rostopic pub -1 /arm_gripper geometry_msgs/Point \
"x: 1.0
y: 0.0
z: 0.0"

Other Topics

Name Type Description
/pose/cube_N geometry_msgs/Pose The position of the minerals.
The mineral mineral numbered with N start from 1 to 5, e.g. /pose/cube_1
/position/target_N geometry_msgs/Point The position of the exchange stations.
The Exchange Station numbered with N, ordering from left to right as 1/2/3.
For example, /pose/target_1 corresponds to the place information of the leftmost Exchange Station:
/judgement/exchange_markers std_msgs/String The marker digits of the exchange stations in the format of data: "3, 5, 2"<br / >For debug only.
/judgement/markers_time std_msgs/String The time of placing the mineral mineral in the right exchange station, in the format of data: "0, None, 102.366459608078".
Defined as:
nan: waiting for the client
0: client EP robot has moved but the mineral is not placed in exchange station
[float]: elapsed time of the mineral get placed
None: hit the exchange station, or the minerals are not put in the right exchange station.
For debug only.