Kubo: Overview
Kubo is a Kubota tractor being developed as the first large Olin unmanned ground vehicle (UGV) to be run using C++, ROS, and Arduino rather than LabView hardware and software.
Currently Using:
- Ubuntu 16
- ROS Kinetic
** TURNING CONSTRAINTS**
Left max: 45 degrees
Right max: 30 degrees
** SPEED CONSTRAINTS**
Speed max: ~1.3 mph
Ackermann Steering: Overview of Ackermann steering and explanation of corresponding ROS data type (documentation)
- Hardware: List of the current navigational units, computational platforms, sensors, and other electrical hardware currently installed on Kubo as part of its autonomous system. (documentation)
- NUC: Documentation on Kubo's mid-brain, its interface, and how to use it. (documentation)
- Roboclaw Setup: Steps taken to set up Roboclaw Motor Controller for Kubo hind-brain (documentation)
- TF Transforms: Documentation of coordinate frames and references for Kubo and its sensors. (documentation)
- Mechanical: Documentation of mechanical systems on Kubo. (documentation)
- IMPACT-HCP: Developing an autonomous supply chain for the army's front-line using autonomous ground and air vehicles to transport goods.
- Target Tracking: Kubo follows a set distance behind a moving object, rejecting disturbances and stopping when the object stops. Can be used to follow people or other vehicles.
- Road Repair: Kubo uses an autonomously controlled box blade and grading blade to repair a weather-damaged or erosion-damaged road template. (documentation)
- GPS Waypoint Navigation: Uses GPS data from robot to publish heading and velocity commands to navigate robot to pre-selected waypoints
- LiDar Obstacle Avoidance Uses LiDar data from Hokuyo to publish change in steering to avoid obstacles. (documentation)
- Start Tractor: With the main electronics switch in the "OFF" position, start the tractor. Make sure the tires are steered straight, the parking brake is off, the engine RPM is as low as possible, and the tractor is in low gear.
- Remove Pins: Ensure that the pins on the steering and blade control actuators are removed, and the quick-link is detached from the velocity pedal.
- Start Electronics: Switch the main electronics switch into the "ON" position. Then, open the rear electronics box and start the NUC by pressing the power button on its face.
- Connect to NUC: Connect to the AGCO SCOPE router and ssh into the NUC (instructions). Open a new terminal and run the following commands ros-remote-instructions:
export ROS_MASTER_URI=http://192.168.1.2:11311
export ROS_IP=192.168.1.3
Note: After you do this, you won't be able to use ROS in that terminal on your own device. To switch back these settings, close and re-open the terminal.
5. Start Tractor Code: In the remote terminal, run roslaunch gravl bringup.launch. Plug your controller into your laptop. In the local terminal, run roslaunch gravl teleop.launch.
6. Engage Tractor: Reconnect pins for the steering and hitch actuators. Reconnect velocity pedal clip. Using the controller, raise the blade.
| Control | L. Joy Vert | R. Joy Horiz | B Button | A Button |
|---|---|---|---|---|
| Function | Vel. Pedal | Steer | E-Stop Toggle | Auto Toggle |
- After estop, stop all terminals, remove steering pin, restart electronics, and reinstall steering pin. Currently, the velocity actuator does not recover from e-stop and must undergo a full system cycle to respond.