KO
|
EN
gitlite — search
Search
#javascript
#python
#hacktoberfest
#react
#ai
#typescript
#llm
#go
#golang
#android
#machine-learning
#rust
#deep-learning
#linux
kuri_edu
★ 11
Open GitHub ↗
Example projects to do with a Kuri robot
Download README (.md)
Explore Similar Repositories
super-java-doc
:
基于Java注释（不是注解）生成接口文档的框架与工具，与你的代码没有任何交集，松耦合
SuluSyliusConsumerBundle
:
No description available.
dali
:
Simple text templating (mustache/handlebars style) for Racket.
ERC-1404
:
An open source standard for security tokens
Serilog.Sinks.ILogger
:
Serilog sink that writes to a Microsoft ILogger
// repository documentation
Was this content helpful?
★ 0
(0 ratings)
Select Rating:
★
★
★
★
★
Submit Feedback
Recent Feedback
×
Download README
Do you want to download the
README.md
file for
kuri_edu
?
Download (.md)
# Kuri EDU This repository contains software and activities intended to be used for educational purposes. The kuri_edu folder contains a ROS package that provides a minimal running robot framework and the activities folder contains ideas and instructions for extending the robot behavior Note that the kuri_edu package is not stand-alone. It expects to overlay a binary install on the Kuri robot - either `/opt/gizmo` or `/opt/edu` will contain the kuri_edu dependencies. ## Stand-alone launch Files * kuri_edu.launch: Launches Kuri, and the nodes required to operate Kuri with minimal autonomous behavior. This launch file glues together several other launch files: * kuri_drive.launch - Runs the hardware abstraction layer and depth-sensor. * madmux_daemon.launch - Provides a hardware abstraction layer to Kuri's camera * vision_bridge.launch - Performs face and object detection ## Getting Started: Before attempting any activities, you should make sure you're able to launch the kuri EDU software without any modifications. Start by establishing an SSH connection to Kuri `ssh mayfield@kuri_hostname` Where kuri_hostname is probably `kuri-LAST_7_DIGITS_OF_SERIAL_NUMBER` To set up your shell, source the setup.sh or setup.bash files in the installed kuri EDU binary `source /opt/edu/setup.sh` Finally, launch the kuri_edu software `roslaunch kuri_edu kuri_edu.launch` This should launch a ROS master, and some ROS nodes: ``` mayfield@kuri-0001c:~$ roslaunch kuri_edu kuri_edu.launch & [1] 19589 mayfield@kuri-0001c:~$ ... logging to /home/mayfield/.ros/log/8997b7cc-bde9-11e8-9393-00073249657e/roslaunch-kuri-0001c-19589.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB. started roslaunch server http://kuri-0001c:36850/ . . . process[robot_state_publisher-2]: started with pid [19637] process[mobile_base-3]: started with pid [19638] process[depthscan-4]: started with pid [19639] process[madmux_daemon-5]: started with pid [19645] process[vision_bridge-6]: started with pid [19658] process[safety_controller-7]: started with pid [19665] process[head_controller-8]: started with pid [19668] process[chest_light_controller-9]: started with pid [19678] ``` At this point, you should observe that your Kuri robot's eyes open, the head looks up, and the chest light begins to play a simple pattern. The color of the chest LED represents Kuri's battery level. Green = 100%, Red = 20% or lower. Kuri should also back up when the bump shell is pressed. You can stop the kuri_edu software with ctrl-c ## Keyboard Teleop Demo You can also drive Kuri like a remote control car using the teleop_twist_keyboard node. You may need to install this node on Kuri. ``` sudo apt-get update sudo apt-get install ros-indigo-teleop-twist-keyboard ``` See the Troubleshooting section below if you're having trouble installing the teleop twist keyboard package Next, you'll need to start the kuri_edu software and the keyboard teleop node. You can do this using two different terminals SSH'd to Kuri, or you can SSH to kuri and run `tmux` to multiplex your terminals, or you can run kuri_edu in the background like ``` roslaunch kuri_edu kuri_edu.launch & ``` If you launch kuri_edu in the background, you can stop it by bringing it to the forground with ``` fg ``` and then stopping it with ctrl-c Once kuri_edu is running in another terminal or in the background, launch the keyboard teleop node: ``` rosrun teleop_twist_keyboard teleop_twist_keyboard.py ``` By default, kuri_edu disables all the cliff sesnors and allows Kuri to be wherever you want. Be careful not to drive it down stairs! ### Troubleshooting If you get an error like: ``` mayfield@kuri-0001c:~$ sudo apt-get update . . . mayfield@kuri-0001c:~$ sudo apt-get install ros-indigo-teleop-twist-keyboard Reading package lists... Done Building dependency tree Reading state information... Done E: Unable to locate package ros-indigo-teleop-twist-keyboard ``` You may need to add the ROS indigo debian sources to your robot. If the `/etc/apt/sources.list.d` folder does not exist, create it with ``` sudo mkdir -p /etc/apt/sources.list.d ``` Then ``` sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list' sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116 ``` See http://wiki.ros.org/indigo/Installation/Ubuntu for more information ## Next Steps If you've made it this far, you're ready to start an activity. Check README.md in the 'activities' folder for an overview of the set-up steps required to complete any activity.
