TKU RoboSot Project

The purpose of this project is implementing, researching, developing the Soccer Robot for FIRA RoboSot League.

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Requirement & Installation

System:

ROS Kinetic w/ Ubuntu 16.04 Install
ROS Melodic w/ Ubuntu 18.04 Install
ROS2 Dashing w/ Ubuntu 18.04 Install

Setup:

$ mkdir -p robosot_ws/src && cd robosot_ws
$ git clone https://github.com/tkuwheel/TKURoboSot.git src/

ROS Packages:

$ sudo apt-get install ros-melodic-rosbridge-server ros-melodic-prosilica-camera
$ sudo apt-get install ros-melodic-rosserial ros-melodic-rosserial-arduino

ROS2 Packages:

$ sudo apt install ros-dashing-rmw-opensplice-cpp # for OpenSplice
$ sudo apt install ros-dashing-rmw-connext-cpp # for RTI Connext (requires license agreement)
$ sudo apt-get install python3-colcon-common-extensions
$ sudo apt-get install ros-dashing-launch*

Python packages:

$ cd src/
$ pip install -r requirements.txt

Installization and Requirments of FLIR Grasshopper3 Camera

see pointgrey_camera_driver/README.md

Compiling

$ catkin_make

Setup udev rules:

$ sudo cp <path to motion>/rule/* /etc/udev/rules.d/

Compiling ROS2

$ cd <ros1_ws>/src/ros2/ros2_ws
# Build ros2 message first
$ colcon build --symlink-install --packages-select strategy

Build custom ros1_bridge

$ source /opt/ros/dashing/setup.bash
$ source <ros1_ws>/devel/setup.bash
$ source <ros2_ws>/install/setup.bash
$ colcon build --symlink-install --packages-select ros1_bridge

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Startup

Environment Setting

$ echo "export RMW_IMPLEMENTATION=rmw_connext_cpp" >> ~/.bashrc

# Get Camera's serial number
$ rosrun pointgrey_camera_driver list_cameras
# Setting Robot's number & Camera's Serail number
$ source Setting.sh

# Gazebo Simulator
$ roslaunch nubot_gazebo game_ready.launch

# Strategy w/ simulation mode
$ roslaunch strategy core.launch sim:=true

# Launch robot devices
$ roslaunch strategy main_7th_all.launch

# GUI
# using plugin of dynamic_reconfigure
$ rqt

$ source <ros2_ws>/install/setup.bash
$ ros2 run ros1_bridge dynamic_bridge --bridge-all-topics

Troubleshooting

import error

from error import *
ImportError: No module named 'error'

Missing 'rospkg' 'catkin_tools'

pip install rospkg catkin_tools

import rospkg library error:

ImportError: No module named 'rospkg'

Add the line to ~/.bashrc

export PYTHONPATH=$PYTHONPATH:/usr/lib/python2.7/dist-packages

pip3 syntax error

Error message:

Traceback (most recent call last):
  File "/usr/bin/pip3", line 9, in <module>
    from pip import main
  File "/usr/lib/python2.7/dist-packages/pip/__init__.py", line 16, in <module>
    from pip.vcs import git, mercurial, subversion, bazaar  # noqa
  File "/usr/lib/python2.7/dist-packages/pip/vcs/subversion.py", line 9, in <module>
    from pip.index import Link
  File "/usr/lib/python2.7/dist-packages/pip/index.py", line 30, in <module>
    from pip.wheel import Wheel, wheel_ext
  File "/usr/lib/python2.7/dist-packages/pip/wheel.py", line 6, in <module>
    import compileall
  File "/usr/lib/python3.5/compileall.py", line 20, in <module>
    from concurrent.futures import ProcessPoolExecutor
  File "/usr/lib/python2.7/dist-packages/concurrent/futures/__init__.py", line 8, in <module>
    from concurrent.futures._base import (FIRST_COMPLETED,
  File "/usr/lib/python2.7/dist-packages/concurrent/futures/_base.py", line 357
    raise type(self._exception), self._exception, self._traceback
                               ^
SyntaxError: invalid syntax

Edit /usr/lib/python2.7/dist-packages/concurrent/futures/_base.py

Replace raise type(self._exception), self._exception, self._traceback

with raise Exception(self._exception).with_traceback(self._traceback)

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About Us

Tamkang University Intelligent Automation And Robotics Center
Our Research