AR100

ROS Software Maintainer: AnscerRobotics

Branch: melodic/noetic

Contents

AR100

Overview

The AR100 is equipped with state-of-the-art technology, ensuring that it serves as an invaluable tool for hands-on learning and experimentation.. Its adaptability and user-friendly interface make it an accessible and effective platform for students, educators, and researchers to delve into the realms of robotics, programming, and automation. With its compact, sleek, and low-profile design, the AR100 provides an ideal platform for a wide range of applications, including navigation and mapping algorithms, as well as supporting automation and robotics courses.

Software Installation

Below are the instructions outlining the process of installing AR100's software on your system and acquiring foundational knowledge in navigation and SLAM (Simultaneous Localization and Mapping) using this robot.

The following instructions assume that a Catkin workspace has been created at $HOME/catkin_ws and that the source space is at $HOME/catkin_ws/src. Update paths appropriately if they are different on the build machine.

Source: https://github.com/anscer/AR100.git

In all other cases the packages will have to be build from sources in a Catkin workspace:

   1 cd ~/catkin_ws/src
   2 git clone https://github.com/anscer/AR100.git
   3 cd ..
   4 # checking dependencies
   5 rosdep install --from-paths src --ignore-src -r -y
   6 # building
   7 catkin_make
   8 # source this workspace (careful when also sourcing others)
   9 echo “source ~/catkin_ws/devel/setup.bash” >> ~/.bashrc

The packages can now be used as regular ROS packages.

Refer to the catkin tutorials for more information on building catkin workspaces.

ROS Integration for AR100

The tutorial that follows provides guidance on incorporating the AR100 with the Robot Operating System (ROS) and centers around three key steps:

Initiating a Gazebo simulation environment.

Setting up and launching a new map.

Navigating the AR100 robot through SLAM (Simultaneous Localization and Mapping) techniques.

Packages

The AR100 Simulation Repository consists of the following ROS packages:

anscer_description : Within this package, you'll discover a collection of essential files in the URDF (Unified Robot Description Format), designed to facilitate visual representation of the robot within Rviz, a powerful visualization tool for robotic systems. These URDF files provide comprehensive information about the robot's physical structure, enabling precise and detailed rendering in Rviz, making it an invaluable resource for system analysis, development, and debugging.

anscer_gazebo : This package offers a comprehensive set of Gazebo simulation configurations meticulously tailored for the AR100 robotic platform. These configurations are thoughtfully designed to simulate the AR100 robot within the Gazebo environment, allowing users to engage in realistic and dynamic simulations for various research, testing, and development purposes.

anscer_navigation : This package serves as a pivotal component in the setup and operation of the navigation stack, a sophisticated software framework essential for enabling autonomous robot navigation. Its multifaceted role encompasses not only configuration but also the seamless launching of this critical stack, which comprises various algorithms and modules required for intelligent robot navigation.

anscer_slam : This package serves as a valuable educational and research tool, facilitating the development of advanced robotic capabilities and paving the way for innovative applications in fields such as robotics, autonomous systems, and environmental mapping. It equips users with the knowledge and resources needed to harness the power of SLAM in unleashing the full potential of the AR100 robot.

anscer_teleop : Within this package, you'll discover comprehensive guidance on how to control and navigate the AR100 robot using your keyboard as an input device. This resource not only outlines the basic steps for keyboard-based robot control but also delves into various techniques and commands that can be employed to achieve precise and dynamic movement.

start_anscer : This package offers a convenient solution for initiating the simulation environment, streamlining the process of getting started with simulations.