noos_ros_tutorials

ROS-based tutorials using the NOOS Cloud Robotics platform

How to build it

git clone https://github.com/ortelio/noos_ros_tutorials.git
cd noos_ros_tutorials
catkin_make
source devel/setup.bash

If your Noos API is not installed in the default path /usr/local use the following line:

catkin_make -DCMAKE_INSTALL_PREFIX=your_path

Loop tutorial

Loop is a basic example about how to use Noos API in a simple loop using the same object, but changing the content which is sent to the cloud platform.

The example sends an image every second to detect a face in the image. An usb camera can be used to check the results, otherwise the same image will be sent. The image can be found in /data folder as lenna.png.

To run it:

rosrun loop loop_node

Vision Batch tutorial

Vision Batch example shows how to use the class vision_batch of the Noos API.

The example sends an image to the cloud platform every second to detect a face in the image. If a face is found, a second call is done to the platform, but in this case, the image is cropped to send only the face for recogniting the face expression and the age.

An usb camera can be used to check the results, otherwise the same image will be sent. The image can be found in /data folder as lenna.png.

To run it:

rosrun vision_batch vision_batch_node

SLAM tutorial

In this example shows how to do SLAM using a laser to create the map.

For doing SLAM, a configuration file needs to be loaded to the platform before sending the sensor data. It should be modified with your sensor specification and the accuracy that you require. The default config file is /data/icp.ini.

The program sends laser data to the cloud platform and it returns the pose of the robot in the map. The platform creates internally a map called example_map. The name can be changed in the file src/slam.cpp.

To read the laser data other node is required which is going to publish the laser data in the topic /scan. In this example is used the RPlidar version 2 laser and their ROS package. It is a submodule, so for using it you need the next steps first:

git submodule init
git submodule update
catkin_make

Run SLAM tutorial

If you have an RPlidar v2 you can use the launch file that is created in this example:

roslaunch slam slam_launch.launch

If you create your own laser node, run your node and then :

rosrun slam slam_node

Dependecies

• ROS
• Noos API
• Boost >= 1.58
• OpenCV >= 3.1
• OpenSSL
• Threads