Difference between revisions of "Category:Hamster"
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{{DISPLAYTITLE:Hamster}} | {{DISPLAYTITLE:Hamster}} | ||
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| + | System overview | ||
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File:SaritTedx2.PNG|frame|300px|Hamster TEDx | File:SaritTedx2.PNG|frame|300px|Hamster TEDx | ||
</gallery> | </gallery> | ||
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| + | ==Hamster system== | ||
| + | |||
| + | ===Robot's components=== | ||
| + | Each robots have two raspberry pi computers on board - master and slave, and a low level controller. | ||
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| + | Master - Has a wifi connection to the hamster network, provides network access to slave. It also connected to the slave computer directly via ethernet cable. | ||
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| + | Slave - Second computer, used primarily for slam/localization algorithms, connected to hamster network via master. | ||
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| + | Low level controller - Arduino based board responsible for interaction with hardware components. | ||
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| + | ===Operation modes=== | ||
| + | Hamster robot is capable of running mapping, localization or outdoor localization (using GPS and IMU). | ||
| + | |||
| + | <strong>Switching between modes</strong>: | ||
| + | |||
| + | In order to change operation mode publish <strong>std_msgs/String message</strong> to <code>/mapping_command</code> 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> | ||
| + | |||
| + | When switching from mapping to localization mode, the map is saved by the server, and loaded for localization algorithm. | ||
Revision as of 13:13, 29 March 2017
System overview
HamsterV3
HamsterV4
HamsterV5
Hamster in TEDX
Hamster TEDx
Hamster system
Robot's components
Each robots have 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 connected to the slave computer directly via ethernet cable.
Slave - Second computer, used primarily for slam/localization algorithms, 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 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>
When switching from mapping to localization mode, the map is saved by the server, and loaded for localization algorithm.
Subcategories
This category has the following 5 subcategories, out of 5 total.
Pages in category "Hamster"
The following 14 pages are in this category, out of 14 total.
