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Docker ํ™˜๊ฒฝ์—์„œ ROS ์„ค์น˜

์—ฌ๋Ÿฌ ๋ธ”๋กœ๊ทธ๋ฅผ ์ฐธ๊ณ ํ•ด ROS ์ปจํ…Œ์ด๋„ˆ๋ฅผ ์„ค์น˜ํ•ด๋ดค๋Š”๋ฐ ์ž˜ ๋˜์ง€ ์•Š์•˜๋‹ค.โžก๏ธ Ubuntu 18.04 ์ปจํ…Œ์ด๋„ˆ๋ฅผ ์„ค์น˜ํ•ด์„œ ์—ฌ๊ธฐ์— ROS๋ฅผ ์„ค์น˜ํ–ˆ๋‹ค.docker images -a๋ฅผ ์ž…๋ ฅํ•ด ํ˜„์žฌ ๊ฐ€์ง„ ์ด๋ฏธ์ง€๋“ค์„ ํ™•์ธํ•ด๋ณด์ž!์‹คํŒจํ•œ ros ์ด๋ฏธ์ง€๋“ค๊ณผ docker๋ฅผ ์ฒ˜์Œ ๊น”์•˜์„ ๋•Œ

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Windows์— Docker ์„ค์น˜

๋จผ์ € Docker๋ฅผ ์„ค์น˜ํ•ด๋ณด์ž! (ํ•„์ž๋Š” Windows๋ฅผ ์‚ฌ์šฉํ•œ๋‹ค.)Install Docker Desktop on Windows ์‚ฌ์ดํŠธ์— ๋“ค์–ด๊ฐ„๋‹ค.์‚ฌ์ดํŠธ์— ๋“ค์–ด๊ฐ€๋ฉด ์•„๋ž˜ ์‚ฌ์ง„๊ณผ ๊ฐ™์€ ํ™”๋ฉด์ด ๋‚˜์˜ค๋Š”๋ฐ, ์—ฌ๊ธฐ์„œ ํŒŒ๋ž€์ƒ‰ ๋ฒ„ํŠผ "Docker Desktop for Windows

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[ROS] 11. SLAM๊ณผ ๋‚ด๋น„๊ฒŒ์ด์…˜

SLAM (Simultaneous Localization and Mapping)

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Human Tracking ๊ตฌ๋™

https://github.com/We-Go-Autonomous-driving/main2_one_personcatkin_ws๋Š” ์ƒˆ๋กœ ๋งŒ๋“  ์›Œํฌ์ŠคํŽ˜์ด์Šคํ„ฐ๋ฏธ๋„์„ ๋‘ ๊ฐœ๋กœ ๋‚˜๋ˆ ์„œ ์ฝ”๋“œ๋ฅผ ์ณ์•ผํ•œ๋‹ค.์ฝ”๋“œ๋ฅผ ์‹คํ–‰ํ•ด๋ณด๋‹ˆ object๊ฐ€ ์žˆ๋‹ค๋Š” ๊ฑด ์ธ์‹ํ•˜์ง€๋งŒ, ๊ทธ object

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9. ์ž„๋ฒ ๋””๋“œ ์‹œ์Šคํ…œ

PC์™€ ์ œ์–ด๊ธฐ ๊ฐ„์˜ ๋ฉ”์‹œ์ง€ ํ†ต์‹ ์„ ์œ„ํ•ด ์ค‘๊ณ„์ž ์—ญํ• ์„ ์ˆ˜ํ–‰ํ•˜๋Š” ROS ํŒจํ‚ค์ง€์˜ˆ) ์ œ์–ด๊ธฐ โžก ์‹œ๋ฆฌ์–ผ(rosserial ํ”„๋กœํ† ์ฝœ) โžก PC(ROS ๋ฉ”์‹œ์ง€๋กœ ์žฌ์ „์†ก)์˜ˆ) ์ œ์–ด๊ธฐ โฌ… ์‹œ๋ฆฌ์–ผ(rosserial ํ”„๋กœํ† ์ฝœ) โฌ… PC(ROS ๋ฉ”์‹œ์ง€๋ฅผ ์‹œ๋ฆฌ์–ผ๋กœ ๋ณ€๊ฒฝ)$ sudo apt

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8. ๋กœ๋ด‡, ์„ผ์„œ, ๋ชจํ„ฐ

์•„๋ž˜์˜ ์‚ฌ์ดํŠธ์— ๋“ค์–ด๊ฐ€์„œ ํ™•์ธํ•˜๋ฉด ๋œ๋‹ค.http://robots.ros.org/์•„๋ž˜์˜ ์‚ฌ์ดํŠธ์— ๋“ค์–ด๊ฐ€์„œ ํ™•์ธํ•˜๋ฉด ๋œ๋‹ค.http://wiki.ros.org/Sensors1D Range Finders์ €๊ฐ€์˜ ๋กœ๋ด‡์„ ๋งŒ๋“ค ๋•Œ ์‚ฌ์šฉํ• ๋งŒํ•œ ์ ์™ธ์„  ๋ฐฉ์‹์˜ ์ง์„ ๊ฑฐ๋ฆฌ

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7. ROS ๊ธฐ๋ณธ ํ”„๋กœ๊ทธ๋ž˜๋ฐ

ํ‘œ์ค€ ๋‹จ์œ„SI ๋‹จ์œ„ ์‚ฌ์šฉ์ขŒํ‘œ ํ‘œํ˜„ ๋ฐฉ์‹x: forward, y: left, z: up ์˜ค๋ฅธ์† ๋ฒ•์น™(๋ฐ˜์‹œ๊ณ„ ๋ฐฉํ–ฅ์ด +)ํ”„๋กœ๊ทธ๋ž˜๋ฐ ๊ทœ์น™๋‹จ๋ฐฉํ–ฅ ํ†ต์‹ ์ผ ๋•Œ Topic์ด๋ผ๋Š” ๋ฉ”์‹œ์ง€ ํ†ต์‹  ์‚ฌ์šฉ์†ก์‹  ์ธก์„ Publisher, ์ˆ˜์‹  ์ธก์„ Subscriber๋ผ๊ณ  ๋ถ€๋ฆ„1) ํŒจํ‚ค์ง€ ์ƒ

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6. ROS ๋„๊ตฌ

RViz๋ฅผ ์ด์šฉํ•˜๋ฉด ์„ผ์„œ ๋ฐ ๋กœ๋ด‡ ๊ด€๋ จ "๋ฐ์ดํ„ฐ ์‹œ๊ฐํ™”"๊ฐ€ ๋งค์šฐ ๊ฐ„๋‹จ!RQT๋ฅผ ์ด์šฉํ•˜๋ฉด1\. GUI ํ˜•ํƒœ๋กœ ROS ์ด์šฉ ๊ฐ€๋Šฅ2\. GUI Tool ์ œ์ž‘์ด ๊ฐ„๋‹จ!"์‹œ๋ฎฌ๋ ˆ์ด์…˜"์ด ํ•„์š”ํ•˜๋‹ค๋ฉด ROS์™€ ์—ฐ๋™ํ•˜๊ธฐ ์‰ฌ์šด Gazebo ์‚ฌ์šฉ!์ฐธ๊ณ )๊ฐ•์˜: https://www

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5. ROS ๋ช…๋ น์–ด

ROS cheatsheethttps://github.com/oroca/oroca_ros_tutorials/raw/master/ROScheatsheet_indigo_catkin.pdf์ฐธ๊ณ )๊ฐ•์˜: https://www.youtube.com/watch?v=

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4. ROS์˜ ์ค‘์š” ์ปจ์…‰

Node์ตœ์†Œ ๋‹จ์œ„์˜ ์‹คํ–‰ ๊ฐ€๋Šฅํ•œ ํ”„๋กœ์„ธ์„œํ•˜๋‚˜์˜ ์‹คํ–‰ ๊ฐ€๋Šฅํ•œ ํ”„๋กœ๊ทธ๋žจROS์—์„œ๋Š” ์ตœ์†Œํ•œ์˜ ์‹คํ–‰ ๋‹จ์œ„๋กœ ํ”„๋กœ๊ทธ๋žจ์„ ๋‚˜๋ˆ„์–ด ์ž‘์—…๊ฐ ๋…ธ๋“œ๋Š” ๋ฉ”์‹œ์ง€ ํ†ต์‹ ์œผ๋กœ ๋ฐ์ดํ„ฐ๋ฅผ ์ฃผ๊ณ  ๋ฐ›์ŒPackageํ•˜๋‚˜ ์ด์ƒ์˜ ๋…ธ๋“œ, ๋…ธ๋“œ ์‹คํ–‰์„ ์œ„ํ•œ ์ •๋ณด ๋“ฑ์„ ๋ฌถ์–ด ๋†“์€ ๊ฒƒํŒจํ‚ค์ง€์˜ ๋ฌถ์Œ์„ ๋ฉ”ํƒ€ํŒจํ‚ค์ง€๋ผ

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3. ROS ๊ฐœ๋ฐœํ™˜๊ฒฝ ๊ตฌ์ถ•

ROS 1์ค„ ์„ค์น˜ $ wget https://raw.githubusercontent.com/ROBOTIS-GIT/robotistools/master/installroskinetic.sh && chmod 755 ./installroskinetic.sh && bash ./

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2. ๋กœ๋ด‡ ์šด์˜์ฒด์ œ ROS

ROS is an open-source, meta-operating system for your robot. It provides the services you would expect from an operating system, including hardware ab

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1. ๋กœ๋ด‡ ์†Œํ”„ํŠธ์›จ์–ด ํ”Œ๋žซํผ

โœ”๏ธ ๋‹ค์–‘ํ•œ ํ•˜๋“œ์›จ์–ด์˜ ๊ฒฐํ•ฉ์ด ๊ฐ€๋Šฅํ•œ ํ•˜๋“œ์›จ์–ด ๋ชจ๋“ˆโœ”๏ธ ์šด์˜ ์ฒด์ œ + ์• ํ”Œ๋ฆฌ์ผ€์ด์…˜ํ•˜๋“œ์›จ์–ด ๋ชจ๋“ˆ + ์šด์˜์ฒด์ œ + ์•ฑ(์„œ๋น„์Šค) + ์œ ์ € โžก๏ธ echo system์˜ 4๋Œ€ ์š”์†Œ"๋ณด์ด์ง€ ์•Š๋Š” ์ƒํƒœ๊ณ„ ์†์˜ ๋ถ„์—…"ํ•˜๋“œ์›จ์–ด ์ธํ„ฐํŽ˜์ด์Šค ํ†ตํ•ฉํ•˜๋“œ์›จ์–ด ์ถ”์ƒํ™”/๊ทœ๊ฒฉํ™”/๋ชจ๋“ˆํ™”๊ฐ€๊ฒฉโ†“, ์„ฑ๋Šฅโ†‘

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Ubuntu 18.04์— ROS melodic ์„ค์น˜

1. ROS melodic ์„ค์น˜ http://wiki.ros.org/melodic/Installation/Ubuntu 2. ์•„๋‚˜์ฝ˜๋‹ค ์„ค์น˜ https://jjeongil.tistopackagery.com/1326 3. ๊ฐ€์ƒํ™˜๊ฒฝ ์„ค์ • 4. yolov4 ์„ค์น˜ http

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