Robotics Software Engineer PicoDegree | Introduction | ROS with Webots | Part 1
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- Опубліковано 11 лип 2024
- Wish to get into shoes of Robotics Software Engineer and see the complete cycle of mobile robot development. Also learn and impelement robotics concepts using ROS with a great simulator named Webots. Then you are at the right place. Soft_illusion Channel is back with a new video..!! (A channel which aims to help the robotics community).
#ROS_tutorial_series #Webots_ROS #ROS
0:00 Soft Illusion intro video
0:08 Introduction to Robotics Software picodegree
01:50 Series(7 videos) summery
03:41 Stark Robot Features
04:55 Setup Environment with webots and ROS
09:13 Launch Webots simulator with stark robot
09:51 Prerequisites videos of this series.
Important Links:
Github Repo of PicoDegree: github.com/Soft-illusion/Robo...
rosdep to install package dependencies: wiki.ros.org/rosdep
Link of playlist to create custom robot with features like GPS, IMU, Camera etc : • Making Custom Robot in...
Everyday we see a lot of people eager to learn, eager to enter the field of robotics, but they all feel the lack of a good starter pack.
Hence Soft Illusion has come up with this PicoDegree which introduces several concepts of robotics. This tutorial series can be considered a good place to get you started with Robotics Software Engineering.
Before starting the series it's good to get acquainted with ROS as well as Webots. At the end of the tutorial series you will have a fully functional mobile robot which will be able to localize, navigate, avoid obstacles and a lot more.
The tutotial series has been divided into 7 videos:
1. Introduction video - This video shows you how to get started with the github repo that we are developing, and installing the pre-requisites. It also explains how you can either create your own robot or use the Stark robot made by us.
2. Static and Dynamic URDF - This helps ROS understand the actual physical structure of the different links on the robot and where all the sensors and actuators are located.
3. Teleop - This video will show how you can control your robot using the keyboard. The video also explains how Webots services is used to enable the different sensors, and command actuators using sensor values.
4. Mapping - Here you will learn how to have your robot understand and get a feel of its environment using a LiDAR.
5. Navigate - Once the robot undertands it's world, we can use different path planning and optimization algorithms to make it go from point A to point B. This will also include the configuration of costmap and different planners.
6. Obstacle Avoidance - Now when the robot is traveling from point A to B we don’t want it crashing into obstacles or humans. Hence we need good obstacle avoidance algorithms. It will also plan a path around obstacles.
7. Applications - Finally we will use all the above-learned knowledge to enable our robot to perform specific tasks/applications.
This Introduction video will show you the following:
1. Introduces the Stark robot which comes with the following features:
a. 4 wheel drive
b. 2 axis camera movement mechanism
c. Camera
d. LiDAR
e. Linear and rotary actuators
f. IMU
g. GPS
h. Distance Sensor
2. Introduction of the github repository created by us: github.com/Soft-illusion/Robo....
a. Create a workspace using: mkdir -p webots_ws/src
b. cd webots_ws/src
c. git clone github.com/Soft-illusion/Robo...
d. git checkout Introduction
e. Next all the dependencies needs to be installed using rosdep. The steps have been explained in the wiki page: wiki.ros.org/rosdep and also in the video.
It includes installing rosdep, init, update and then finally rosdep install --from-paths src --ignore-src -r -y. This installs all the required packages specified in the package.xml.
As you will notice, ros-noetic-webots-ros also gets installed. This is because we will be using the Webots Simulator in this project.
h. catkin_make - Here all the packages in the source folder gets built.
i. source devel/setup.bash - This is necessary for ROS to understand all the built packages in the repository.
k. roslaunch bringup master.launch - As you will notice in the launch file we use the webots-ros package and launch a Webots world.
3. The Stark robot in the robot can be created EITHER of the above 2 ways:
a. Git clone repo - As explained in the procedure above, in the Webots world the Stark robot is standing strong. The robot PROTO can also be found in the protos folder.
b. Make your custom robot from scratch - You can make the same Stark robot from scratch or you can make your own personalized robot using the instrauctions in this playlist: • Making Custom Robot in...
In the playlist you will see different videos to add the specific features on the robot such as Distance sensor, GPS, IMU, Linear Actuator, Rotary Actuator, Camera etc.
Wonderful, I appreciate your vision👏
Thanks you very much
Great Series
Well explained and simple to understand 👍👍👍
Glad you liked it
Amazing content..very relevant 👏 good work 🤖
Thank You. ☺
Great content and series. Thanks for your effort.
Thank you very much .
Do share it with your friends 😇
Thank you!
Amazing Series and content!!!!
Thanks Prakshep.
The channel, content and performance are remarkable since there is not straightforward to discussed about rather difficult domain like robotics is. I do believe your passion and effort will be promoted and you achieve your all goals. Keep going. The knowledge should be promoted. Have a nice day!
Well said! Yes, we are trying our level best to promote and make robotics easier for the enthusiasts. Thank you very much. Your words mean a lot.
Great work.
Thank you! Cheers!
This is exactly the project which I was doing in my Mtech and it wasn't easy for those who aren't aware anything about robotics like me.
U ppl are doing a great job by helping many ppl to understand, learn and build robot.
Thank you.
Yatish...
Our goal is to make Robotics as easy as possible you can share these videos with other in order for maximum impact.
Great video. In simple and yet to the right level of technical detail, this video sets the stage to learn robotics quickly. I wish your channel all success
Glad it was helpful!
Hi, first of all thanks for the content and then is it possible to do this procces with ros2 foxy? and using colcon build to build the packages instead of catkin make?
Hello,
Thanks for this series, just want to know whether this series covers physical robot.
That is a good idea we can extend this series to physical robot.
WEBOTS_HOME environment variable not defined error comes when i do master,launch. neither am i able to install webots
I am getting an error while trying to launch master.launch
"process[webots-2]: started with pid [40645]
WEBOTS_HOME environment variable not defined."
Please help.🙏🙏
Is Ubuntu machine required to go through this course?
Yes sir ...
when I'm trying to execute this command: roslaunch bringup master.launch. It's showing that " [webots-2] has died! " and "shutting down processing monitor complete done". Please help me with this problem
Did you update your bash script.
Watch the installation video and update your bash script with webots home parameter
@@coolrobotics please share the link of that video, I couldnt find the video... i get the same error too
Setting Up environment | Webots Simulator | [Tutorial 1]
ua-cam.com/video/yi4e5FoVWbQ/v-deo.html
can you please tell us in detail what should we do it get rid of that error...
i used webots in windows previously, now i am switching to ubuntu... im new to linux... i followed every step in this video and also downloaded ros and webots from website previously before watching this video... so i had ros noetic and webots already installed and i went along with this video and i got the same error... please tell the way around this error in detail as i am new to linux
Thanks
Update user name and add this line to your bash script.
export WEBOTS_HOME=/usr/local/webots
PATH=${PATH}:${WEBOTS_HOME}
Have you installed webots_ROS package.
Can you type
roslaunch webots_ros pioneer3at.launch
If this launch gives you error then type
sudo apt-get install ros-noetic-webots*
Catkin make you project and source it and you will be good to go 😊
Get the following error at time 7:54 from the video. Any suggestions on how to address? Everything before this worked
user:~/webots_ws$ rosdep install --from-paths src --ignore-src -r -y
executing command [sudo -H apt-get install -y ros-noetic-webots-ros]
Reading package lists... Done
Building dependency tree
Reading state information... Done
E: Unable to locate package ros-noetic-webots-ros
ERROR: the following rosdeps failed to install
apt: command [sudo -H apt-get install -y ros-noetic-webots-ros] failed
apt: Failed to detect successful installation of [ros-noetic-webots-ros]
Maybe your apt packages are not updated can you run :
" sudo apt-get update "
and do rosdep again.
if not install it manually.
"sudo apt-get install -y ros-noetic-webots-ros"
@@coolrobotics Thanks for quick response. Doing sudo apt-get update let me move forward, but at 8:25 when I do roslaunch bringup master.launch, it gives the following error. Any suggestions on how to debug?
auto-starting new master
process[master]: started with pid [9592]
ROS_MASTER_URI=4_xterm:11311
setting /run_id to af576814-01f1-11ec-84d0-0242c0a83007
process[rosout-1]: started with pid [9602]
started core service [/rosout]
process[webots-2]: started with pid [9605]
WEBOTS_HOME environment variable not defined.
================================================================================REQUIRED process [webots-2] has died!
@@coolrobotics I got the same error at time 7:54 from the video.
I tried the solutions mentioned at your reply and doesn't work, the part of the error when I tried the command to install manually is: "E: Unable to locate package ros-noetic-webots-ros".
I paste part the initial error message below:
rosdep install --from-paths src --ignore-src -r -y //THE COMMAND
WARNING: ROS_PHYTON_VERSION is unset. Defaulting to 3
ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies (ROS distro is not set. Make sure 'ROS_DISTRO' enviroment variable is set, or use '--rosdistro' option to specify the distro, e.g. '--rosdistro indigo'):
bringup: Cannot locate rosedep definition for [catkin]
Continuing to install resolvable dependencies...
#All required rosdeps installed successfully
So I can't go further, I'm waitting for your reply :)
@@matiassalgado6249 same issue
@@matiassalgado6249 just add an extra flag at the end stating your ROS version:
rosdep install --from-paths src --ignore-src -r -y --rosdistro noetic