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RAPOSA NG

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RuteLuz edited this page Dec 10, 2019 · 12 revisions

Safety and Warnings

  • Be extra careful when removing the connector from the cable that provides power to RAPOSA-NG. Bad use of this one WILL cause damage to the robot
  • NEVER leave the batteries inside the robot after using. These ones are dangerous and can permanently damage the robot.

System Description

The body of RAPOSA-NG is composed of two parts: the main body (base), containing the on-board computer, power, motors and most electronic elements, and the frontal body, that can be raised or lowered to overcome obstacles and contains the cameras. Both these parts include tracks that aid the locomotion of the UGV in an unstructured environment. In what concerns hardware this robotic platform is currently equipped with the following Sensors/Components:

  • 1 stereo camera, positioned on top a pan & tilt structure acting as gimbal stabilizer to follow the direction that the operator is facing with the Head Mounted Display (HMD): FLIR Bumblebee®2 1394a;

  • 1 RGBD camera, positioned on the frontal area of the robot: Intel®RealSense™ D435

  • 1 RGB camera, positioned on the back of the stereo camera

  • 1 laser rangefinder, positioned on top of a pitch & roll structure acting as gimbal stabilizer to maintain the laser scans in a horizontal plane and increase the robustness of the mapping while traveling in irregular terrain: Hokuyo® UTM-30LX

  • 2 wheel encoders (left and right tracks)

  • 1 IMU (Inertial Measurement Unit): microstrain 3DM-GX2®

System Setup

Network Setup (Wifi)

  • Name: raposangnet
  • Password: net_raposa_ng

Connect to RAPOSA-NG:

  • ssh raposang@192.168.0.250 to enter the remote pc
  • export ROS_MASTER_URI=http://192.168.0.250:11311 to listen to the topics

Launch the system:

tmux
roscd
./raposang_init_nodes.bash
ctrl+B
C

You can now access the roscore in your pc (don't forget to export the ROS_MASTER_URI)

RAPOSA-NG Introduction

RAPOSA-NG is a tracked wheel Search and Rescue UGV prototype, designed to operate in out-doors hazardous environments. This UGV was also designed to perform a teleoperated detection of possible victims. The robot is equipped with two cameras, a LIDAR, and IMU sensor. These sensors provide information regarding the robot status, including robot and stereo camera attitude, battery level,and network latency. The LIDAR is installed on top of a tilt & roll structure acting as gimbal stabilizer to maintain the laser scans in a horizontal plane and increase the robustness of the mapping while traveling in irregular terrain.

Extra Resources

Publications:

Thesis:

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