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ROS Con JP 2019 LT Tatsuya Ishikawa
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ROS初学者向けロボットプラットフォームを作る~DJI RoboMaster S1をROS対応する~
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ROS Con JP 2019 LT Tatsuya Ishikawa
1.
ROS初学者向けロボットプラットフォームを作る ~DJI RoboMaster S1をROS対応する~ Tatsuya
Ishikawa Sep. 25, 2019 ROSCon JP 2019 1
2.
DJI RoboMaster S1をROS対応する •
DJI RoboMaster S1:自律移動技術開発の初学者向けプラットフォームに使えないか? • バッテリー:18650の3S1Pの過電流・過充電保護など高性能なLi-ionバッテリーを搭載,十分電力に余力がありセンサーの追加も可 能 • 駆動システム:高品質なメカナムホイールを採用し,安定した全方向移動が可能 • 機体通信システム:信頼性の高いCANを使用している!!! • 対戦なども行うことができるため,楽しみながら技術を学ぶことができる “DJIはAPIを公開していない・・・ DJIはAPIを公開していない・・・ DJIはAPIを公開していない・・・” 2 子ども向け エンジニア向け 好評発売中!!! Sep. 25, 2019 ROSCon JP 2019
3.
DJI RoboMaster S1をROS対応する •
RoboMaster S1 with ROS システム構成 3 モーションコントローラ ブラスター・ジンバル ヒットデテクター モーター インテリジェントコントロー ラ CAN-BUS Nucleo-F767ZI UDP通信 WiFi Sep. 25, 2019 ROSCon JP 2019 CAN-BUS CAN-BUS上にTELLOと似た通信コマンドを載せている(え? CANを占有してバースト送信しておりCortex M7ですら取りこぼす(は?ふざけてんの? CANトランシーバー TJA1050 DCDCコンバータ 秋月電子 USB電源用 ブレイクアウトボード Ethernet-WiFi コンバータ コマンドを解析して 書き換える ブリッジノード RS-485
4.
DJI RoboMaster S1をROS対応する •
ということで,できました • できたこと • Twist送って動かす(車体・ブラスター) • CANのMsgをROSの世界に持ってくる • できていないこと • ブラスターを打つ • ヒットセンサーの値の取得 • 姿勢の取得 • そもそもできなさそうなこと • 車輪オドメトリの取得 • 車体とブラスターの独立制御 • ラボモード乗っ取り • WiFi解析でできそうなこと • ビデオストリーミングの横取り 4Sep. 25, 2019 ROSCon JP 2019
5.
DJI RoboMaster S1をROS対応する •
この後公開します! • https://github.com/tatsuyai713/robomaster_ s1_can_hack • 今後の予定 1. ブラスターコマンドを解析して対戦できるようにする 2. インテリジェントコントローラを取り外せるようにする 3. (mROS on GR-PEACH対応?) 4. ROS2できたらええなぁぁぁ(遠い目 • DJIの通信プロトコルや詳しい内容についてはQiita もしくはROS UGの勉強会で発表する予定です • DJIさん,オフィシャルなROS2対応な やつお願いします! 5Sep. 25, 2019 ROSCon JP 2019
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