T t` ROS ÅDE2i-150 (Collision Avoidance Robot based on ROS and...
Transcript of T t` ROS ÅDE2i-150 (Collision Avoidance Robot based on ROS and...
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1
、 ROS DE2i-150
(Collision Avoidance Robot based on ROS and DE2i-150) 104 10 3 105 10 20
: ROS
DE2-150 PTZ
3D
In this topic, uses ROS is the overall construction, develops the platform by the DE2-150 development board achievement, uses the PTZ camera to take the phantom input source,enables the parents to be p o s s i b l e t o w a t c h a l l a r o u n d t h e environment on the computer, and has joined the 3D laser distance gauge, increased the toy baby carriage security largely, enables the parents to be possible to feel relieved very much lets the child a m u s e m e n t .
ROS(Robot Operating System)
DE2i-150
ROS Ubuntu mSATA SSD ROS
UbuntuPTZ
Ethernet 「 CPU ROSWi-Fi 「
PCIe Bus 「FPGA
CPU Ethernet
PTZ GPIO
1.
FPGA: WEL & MCD
CRG & MCD FM & CalXYWEL & MCD
CRG & MCD
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2
FM & CalXY
2.
ROS ROS
ROS Master ROS
:
Image Processing Node Image Topic
New Point TopicRemote Node
3.ROS
4.ROS
: DE2i-150 Intel CPU Altera FPGA
1. Intel CPU CGI JPEG
。 30 &
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3
「 curl ( JPEG
JPEG JPEG「
2. Altera FPGA
)
:
)
5.
3.PTZ Intel CPU PTZ
:
curl ( 「(Pan) (Tile)
4. Intel CPU
」
(Pulse Width Modulation, PWM)
H P-MOS FETN-MOS FETQ1, Q2, Q3, Q4 : GPIO
Q1Q4 Q2 Q3
Q2 Q3 Q1Q4
6.
5.
7.
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4
6.
FPGA PTZ
;
)
」
3D
8.
9.
1. DE2i-150
DE2i-150
Altera Cyclone IVFPGA Intel
CPU ROS
Ubuntu mSATA SSD DE2i-150PCIe Bus 32-bits
2. ROS ROS
,
ROS
ROS UbuntuWindows Mac OS X Android
3.360° PTZ
PTZ
4.
FPGA 120 FPS(Frames Per Second)
5. Wi-Fi Direct
Wi-Fi
:
ROS
DE2i-150
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5
:
3D Sensor
Android
[1] 、 https://zh.wikipedia.org/zh-tw/
2016
[2] ROS WikiMasterhttp://wiki.ros.org/Master2016
[3] ROS WikiDocumentationhttp://wiki.ros.org/2016
[4] 、Wi-Fi
https://zh.wikipedia.org/zh-tw/Wi-Fi 2016
[5] TerasicDE2i-150
http://www.terasic.com.tw/cgi-bin/page/archive.pl?L
anguage=English&No=529
[6] “Embedded System Design of Image Target
Tracking for PTZ camera” 、
2015
[7] ROS WikiRoslaunch tips for larger projects
http://wiki.ros.org/action/fullsearch/cn/ROS/Tutorial
s/Roslaunch%20tips%20for%20larger%20projects?a
ction=fullsearch&context=180&value=linkto%3A%
22cn%2FROS%2FTutorials%2FRoslaunch+tips+for
+larger+projects%222016
[8] ROS Wikiurdfhttp://wiki.ros.org/urdf/Tutorials
2016
[9] ROS Wikitfhttp://wiki.ros.org/tf/Tutorials2016
[10]
http://reader.roodo.com/sayaku/archives/19544672.h
tml2012
[11] ROS Wikirosconsole
http://wiki.ros.org/rosconsole2016
[12] ROS Wikiurg_nodehttp://wiki.ros.org/urg_node
2016
[13] ROS Wikiusb_camhttp://wiki.ros.org/usb_cam
2016
[14] CMake CMakelist.txt
http://blog.csdn.net/u012150179/article/details/1785
22732014
[15] ROS WikiUsing Class Methods as Callback
http://wiki.ros.org/roscpp_tutorials/Tutorials/UsingC
lassMethodsAsCallbacks2016