Jbermejo-pfc-itis
- Project Name:
- Authors: Jorge Bermejo Juárez (j.bermejoj [at] alumnos [dot] urjc [dot] es)
- Academic Year: 2008-2009
- Degree: Undergree
- Jde Version: jde 4.3.0
- SVN Repository: https://svn.jde.gsyc.es/users/jbermejo/pfc-itis
- Tags: webots, opencv, jde, gazebo
- Technology: c, c++, opencv, python, jde suite
- State: Developing
- Source License: GPLv3
- Document License:
Contents |
Gazebo
My own model
To begin to get familiar with Gazebo first thing I tried to do was build my own model based in a existing model. To this first step I caught SonyVID30 camera, which we can find in this path «« GAZEBO_PATH/server/models/SonyVID30 »».
As we see in the next image the camera is in Gazebo's world, but It is alone.
Done this, next step was embedded My_Camera in robot pioneer. In this step too, I used jderobot to control Pioneer and My_camera.
Pioneer is a robot which have Its own camera, so the next way I investigated was embedded My_camera in a model that not have a camera yet.
First "Humanoid"
When I have familiarized with Gazebo, I began to build a “Humanoid” model. To do this I follow this Tutorial: http://www.d.umn.edu/~cprince/PubRes/Gazebo/index.php?page=main
First, I embedded the bandit model within a cylinder and rotated it so that it sits vertically on the cylinder.
Same previous model, now with a camera and with camera and stereo head.
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In next step I am not continue in the same way(building Humanoid), now I will try to build my own model, in this case without using an existing model. The model that I will try to build is an arch with a mobile.
I will build the same arch, but now I will try to generate some Body’s in order to put one on the top of the other. To do this is necessary creating those Body’s using joints.
Now continuing building Humanoid, I've written a code in C that allows to move humanoid's arms.
I've added one degree of freedom in the torso, this degree of freedom allows it to turn the torso.
In next video first Humanoid moves his arms automatically, then I take control and I order him to move the torso.
Nao has legs!!!
In this step my effort consist to give Nao two legs. Right now he has legs, but he can't move it.
Right now Nao can move his legs, but there is a problem, when He move it He fall down so Nao can't walk yet.
I'm working in this problem and I hope in next weeks Nao will be walking.
NaoOperator & MyDriver
NaoOperator
NaoOperator is a schema created by Francisco Rivas with this schema you can control all Nao motors. Here you can see more details.
MyDriver
MyDriver is a driver which provides communication between Gazebo and NaoOperator.
You can see a video using MyDriver & NaoOperator:
Gazebo driver
In last step we saw that the Humanoid was controlled with NaoOperator and communication between NaoOperator and Gazebo was provided for 'MyDrivers'". I have modified Gazebo's driver in order to control Nao with this driver.
GNAO
In next videos you can see GNao(Gazebo Nao).
With NaoOperator you can load some predefined moves created by Francisco Rivas or by TeamChaos. With those moves GNao can already walk.
Head & Color
