CNIT 581-SDR, Spring 2022.
Project: WS-Bot.
Ruiqi, Ola and Yi.
We have successfully installed Ubuntu on the laptop and we are moving on the navigating system. Since most of us are new to ROS, there is a need to first understand the basics of the ROS navigation system, which is what we have worked on. We learnt the turtlesim navigation system and also the mapping techniques (Fig. 1).
Fig. 1 Turtlesim navigation with ROS
We proceeded in testing our connection on Jackal, by first creating an ethernet connection and connection to Jackal via a LAN cable, both systems have to be on the same IP connection which we have created through the ethernet connection (Fig. 2).
Fig. 2 Set up the Jackal computer
We installed Ubuntu 20.04 with Jackal packages on the robot successfully, which was just released by the Clearpath company on 3.24 (Fig. 3). Next week, we will utilize ssh to regard our own laptops as the ROS host to control the robot, and sync it to other parts, such as wearable systems.
Fig. 3 Update the Jackal System
For computer vision system, we set up YOLOv3 model, and found some open dataset of human beings for training (MIT-CBCL Pedestrian Database). Next few weeks, we will train the model, and do static test and real-time test.
For wearable systems, since all the E4 wristbound is being used for user study, we cannot test via physical devices. However, we found the E4 SDK in Ubuntu, and got fimiliar with it. Next week, we will develop some algorithms to detect abnormal behaviors.
CNIT 581 Spring 2022 Projec 