ROS, Arduino, Sublime, Ubuntu

Arduino

Install Arduino IDE

sudo apt-get install arduino

If /dev/ttyUSB0 doesn’t appear when the board is plugged, you may need to load the ftdi_sio module:

sudo modprobe ftdi_sio

Sublime as IDE

In Sublime Text, Install Package Arduino Like IDE (official Arduino IDE is needed to use the libraries)

Select the Arduino Folder

Ctrl+Alt+1

Select , navigate through the folders until the address is /usr/share/arduino

Select Your Sketchbook Folder

The folder you want to use for your code

Ctrl+Alt+2

Try to compile and upload an example to the board, so you know it works properly.

ROS Serial

Follow the steps in ROS Serial, basically install the ROS debs

sudo apt-get install ros-hydro-rosserial-arduino ros-hydro-rosserial-python

Add the ros_lib library in your sketchbook libraries folder

rosrun rosserial_arduino make_libraries.py .

For more tutorials check out wiki.ros.org/rosserial_arduino/Tutorials

Stuff I made with this is available at teo_bumpers

Tibi Robot Lego Minifig 3D Model


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I’ve just uploaded this model in sketchfab’s Legofast contest

I modelled using SolidWorks but the colours were not well exported so I had to export to STL and use blender to colorize the model. Sadly is not the same quality, but you can check the files or rendered images in the following links:

PFC: Disseny i construcció d’un làser 3D per al mapejat d’entorns exteriors

Master thesis: Design and construction of a 3D Laser for external environments mapping

Leuze 3D Laser

3D Laser (Leuze) with Pioneer platform

My master’s project (finished on june 2008), was a 3D Laser Scanner for external environments mapping, using a 2D laser scanner. I made the whole design (system, mechanical, electronics), construction, control and test program using C++ in Linux and data analysis and representation in a virtual 3D environment using Matlab.

I completed it in Institut de Robòtica i Informàtica Industrial (IRI) – Universitat Politècnica de Catalunya

My tutor was Juan Andrade-Cetto and Ernesto Homar Teniente helped me in some parts of the 3D representation also as a part of his PhD.

If you want to take a look here are some documents about it:

Images

Picasa album

Blog

Construcció i Resultats
Disseny i selecció de components

Documents

Memòria (Report) 13MB [PDF]
Annex 2MB [PDF]