Difference between revisions of "Category:Hamster"

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==Hamster system==
 
==Hamster system==
 +
 +
=== Hamster versions ===
 +
* [[:Category:HamsterV4|HamsterV4]]
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* [[:Category:HamsterV5|HamsterV5]]
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* [[:Category:HamsterV6|HamsterV6]]
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* [[:Category:HamsterV7|HamsterV7]]
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* [[:Category:HamsterV7I|HamsterV7 Intel]]
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* [[:Category:HamsterV7N|HamsterV7 Nvidia]]
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* [[:Category:HamsterProKit|Hamster Pro Kit]]
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* [[:Category:HamsterV8|Hamster V8]]
  
 
=== Hamster research teams ===
 
=== Hamster research teams ===
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=== Hamster research papers ===
 
=== Hamster research papers ===
−
* [http://ijcai.org/Proceedings/15/Papers/270.pdf On the Use of Teamwork Software for Multi-Robot Formation Control]
 
 
* [https://u.cs.biu.ac.il/~sarit/data/articles/morIjcai17_2950.pdf Maintaining Communication in Multi-Robot Tree Coverage]
 
* [https://u.cs.biu.ac.il/~sarit/data/articles/morIjcai17_2950.pdf Maintaining Communication in Multi-Robot Tree Coverage]
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* [https://www.aaai.org/ocs/index.php/IJCAI/IJCAI15/paper/viewFile/10787/11189 Automated Agents for Advice Provision]
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* [http://ifaamas.org/Proceedings/aamas2018/pdfs/p2213.pdf Distributed Accurate Formation Control Under Uncertainty]
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* [https://www.aaai.org/ocs/index.php/IJCAI/IJCAI15/paper/viewFile/10808/10927 Intelligent Agent Supporting Human-Multi-Robot Team Collaboration]
 
* [http://www.merl.com/publications/docs/TR2018-125.pdf Control Architecture Design for Autonomous Vehicles]
 
* [http://www.merl.com/publications/docs/TR2018-125.pdf Control Architecture Design for Autonomous Vehicles]
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* [http://u.cs.biu.ac.il/~agmon/RovinskyIROS18.pdf Uncertain Local Leader Selection In Distributed Formation]
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* [http://u.cs.biu.ac.il/~agmon/MRMM/source/ICRA17MRMM1.pdf Multiple Robots For Multiple Missions: Architecture for Complex Collaboration]
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* [http://u.cs.biu.ac.il/~agmon/MRMM/ Research lab landing page]
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* [http://www.merl.com/publications/docs/TR2019-062.pdf Motion Planning of Autonomous Road Vehicles by Particle Filtering: Implementation and Validation]
  
 
=== Hamster models ===
 
=== Hamster models ===
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* Power and Battery [https://wiki.cogni.io/index.php/PowerAndBattery Power]
 
* Power and Battery [https://wiki.cogni.io/index.php/PowerAndBattery Power]
 
* Commands / Modes [https://wiki.cogni.io/index.php/HamsterCommands Modes]
 
* Commands / Modes [https://wiki.cogni.io/index.php/HamsterCommands Modes]
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 +
==Hamster F.A.Q ==
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* Q: What is the Hamster maximum speed
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* A: 1.2m/s
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* Q: What is the Hamster minimum speed
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* A: 0.1 m/s
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* Q: What is the Hamster turning deg sensitivity
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* A: ~1 deg
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* Q: My Hamster turns in place in a suspicious manner. Why is it?
 +
* A: We call this the Austin Powers turn. This is since the Hamster uses hackerman steering geometry. With 0 linar force and some angular force it results in
 +
[[File:Austin.gif]]
  
 
==Hamster wireless network==
 
==Hamster wireless network==
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===Hamster===
 
===Hamster===
  
−
* User = pi
+
* User = pi / hamster (on up squared)
 
* Password = hamster
 
* Password = hamster
  
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===Hardware===
 
===Hardware===
  
−
* WiFi
+
* WiFi ew-7811uac EDIMAX AC600
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* Camera raspberry Pi module v2
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* LiDar A2M8 (USB)
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* IMU AltIMU-10 v5
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* Ethernet (to slave)
 
* Low level controller (via UART)
 
* Low level controller (via UART)
−
* LiDar (USB)
 
−
* Ethernet (to slave)
 
  
 
==Slave==
 
==Slave==
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===Hardware===
 
===Hardware===
  
−
* GPS
+
* GPS Mouse - GP-808G
 
* Ethernet (to master)
 
* Ethernet (to master)

Latest revision as of 05:33, 26 October 2021


  • Hamster in TEDX

  • Hamster with Movidius

  • Ben Gurion Airport


Quick start

1. Install hamster server - multi-master configuration https://wiki.cogni.io/index.php/HamsterServer

(if your robot was shipped before January 2018 - single-master configuration)

2. Turn on robot

3. Control your agents in hamster.perspective -rqt with mouse, joystick and keyboard:

Select window with agent number:

agents 1-10 switching with 1 ... 0 keyboard buttons

agents 11-20 switching with shift + 1 ... shift + 0

4. See your robot in hamster.rviz

For agents 3-20 change agent number in topic names

Hamster system

Hamster versions

Hamster research teams

The Hamster is being used as a research platform at various institutes

Hamster research papers

Hamster models

  • HamsterV3

  • HamsterV4

  • HamsterV5

Robot's components

Each robots has two raspberry pi computers on board - master and slave, and a low level controller.

Master - Has a wifi connection to the hamster network, provides network access to slave. It also connects to the slave computer directly via ethernet cable.

Slave - Second computer, used primarily for GPS data broadcasting, connected to hamster network via master.

Low level controller - Arduino based board responsible for interaction with hardware components.

Operation modes

Hamster robot is capable of running mapping, localization or outdoor localization (using GPS and IMU).

Switching between modes:

In order to change the operation mode publish std_msgs/String message to /mapping_command topic, containing on e of the following strings:

  • slam
  • localization
  • outdoor

Example: <syntaxhighlight lang="bash" line='line'> rostopic pub /mapping_command std_msgs/String "data: 'slam'" </syntaxhighlight> <syntaxhighlight lang="bash" line='line'> rostopic pub /mapping_command std_msgs/String "data: 'localization'" </syntaxhighlight>

When switching from mapping to localization mode, the map is saved by the server, and loaded for localization algorithm.

All maps saved inside ~/hamster_ws/src/hamster_server_launch/maps$

Hamster calibrations and configurations

Hamster F.A.Q

  • Q: What is the Hamster maximum speed
  • A: 1.2m/s
  • Q: What is the Hamster minimum speed
  • A: 0.1 m/s
  • Q: What is the Hamster turning deg sensitivity
  • A: ~1 deg
  • Q: My Hamster turns in place in a suspicious manner. Why is it?
  • A: We call this the Austin Powers turn. This is since the Hamster uses hackerman steering geometry. With 0 linar force and some angular force it results in

Austin.gif

Hamster wireless network

Router

  • SSID 2.4Ghz: hamster_net
  • SSID 5.0Ghz: hamster_net5
  • Password: hamsterHAMSTER
  • Network: 10.0.2.0
  • Netmask: 255.255.255.0
  • Gateway: 10.0.2.138

Hamster

  • User = pi / hamster (on up squared)
  • Password = hamster

Master:

  • IP: 10.0.2.n/192.168.n.1

Slave:

  • IP: 192.168.n.2

n - stands for agent id, e.g agent7 will have 10.0.2.7/192.168.7.1

Low level controller

Hamster LLC connection scheme (for V4 and V5)

Description

The LLC board is responsible for interaction with hardware components such as:

  • Motors (drive and steering)
  • Encoders (mainly used for PID controller)
  • IMU
  • Battery monitoring
  • Cut-off (shuts down the platform when battery goes below certain voltage)

The LLC is connected to master computer via UART (serial)

A built-in switch is also provided for the possibility of loading new firmware (voids warranty, can be provided per request)

Server

Description:

Usually runs ROS master services, it also loads and publishes the map for localization

Note: hamster robot may be configured to use local ROS master to avoid using dedicated server for this purpose

Project:

Master

Description:

Majority of hardware is connected to the master pc, it also acts as network gateway for slave

Hardware

  • WiFi ew-7811uac EDIMAX AC600
  • Camera raspberry Pi module v2
  • LiDar A2M8 (USB)
  • IMU AltIMU-10 v5
  • Ethernet (to slave)
  • Low level controller (via UART)

Slave

Description

GPS data broadcaster

Hardware

  • GPS Mouse - GP-808G
  • Ethernet (to master)

Subcategories

This category has the following 5 subcategories, out of 5 total.

H

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