http://espace-ressources.iutsf.org/ 2026-05-18T11:09:43+00:00 http://espace-ressources.iutsf.org/ http://espace-ressources.iutsf.org/_media/logo.png text/html 2013-11-27T15:07:23+00:00 Anonymous (anonymous@undisclosed.example.com) http://espace-ressources.iutsf.org/lissi/arduino?rev=1385564843&do=diff Arduino * Site principal sur l'Arduino text/html 2013-11-27T15:07:23+00:00 Anonymous (anonymous@undisclosed.example.com) http://espace-ressources.iutsf.org/lissi/documents?rev=1385564843&do=diff Documents utiles Ici des documents utiles: * convention de stage UPEC * charte des stages dans les entreprises. Les obligations de l'employeur. * charte des thèses, guide des doctorants upec text/html 2013-11-27T15:07:23+00:00 Anonymous (anonymous@undisclosed.example.com) http://espace-ressources.iutsf.org/lissi/linux?rev=1385564843&do=diff Linux Beginners ENG: FR: Voici quelques liens pour apprendre linux * Travaux pratiques: * tp linux diderot * commandes de base * Livres: * “Linux: initiation et utilisation”, Armspach, Colin, Ostré-Waerzeggers. ---------- Administration * multiple terminals: text/html 2013-11-27T15:07:23+00:00 Anonymous (anonymous@undisclosed.example.com) http://espace-ressources.iutsf.org/lissi/membres?rev=1385564843&do=diff Membres Permanents * AMARGER Véronique * CHOHRA Amine * CHEBIRA Abdenasser * HAZAN Aurélien * MADANI Kurosh * SABOURIN Christophe Doctorants * ? Stagiaires * ? text/html 2013-11-27T15:07:23+00:00 Anonymous (anonymous@undisclosed.example.com) http://espace-ressources.iutsf.org/lissi/python?rev=1385564843&do=diff Python Ci-dessous quelques liens pour apprendre Python: * site de G.Swinnen text/html 2013-11-27T15:07:23+00:00 Anonymous (anonymous@undisclosed.example.com) http://espace-ressources.iutsf.org/lissi/recherches?rev=1385564843&do=diff Recherche Groupe SYNAPSE (SYstèmes cogNitifs Artificiels et Perception Bio-InSpiréE) ---------- Thèmes de recherche * Perception bio-inspirée * Cognition Artificielle ---------- Collaborations * Laboratoire SPE (Sciences Pour l’Environnement)-UMR 6134, Université de Corte. text/html 2014-01-29T10:50:54+00:00 Anonymous (anonymous@undisclosed.example.com) http://espace-ressources.iutsf.org/lissi/ros?rev=1390992654&do=diff ROS “ROS (Robot Operating System) provides libraries and tools to help software developers create robot applications. It provides hardware abstraction, device drivers, libraries, visualizers, message-passing, package management, and more. ROS is licensed under an open source, BSD license text/html 2013-11-27T15:07:23+00:00 Anonymous (anonymous@undisclosed.example.com) http://espace-ressources.iutsf.org/lissi/rosdebug?rev=1385564843&do=diff DEBUG ! * Debug the network * Debug the odometry * Debug the TF * Debug the Laserscan * Debug the 2D navigation text/html 2013-11-27T15:07:23+00:00 Anonymous (anonymous@undisclosed.example.com) http://espace-ressources.iutsf.org/lissi/rosdebuglaser?rev=1385564843&do=diff Debug the laserscan * Laser scanners sometimes return unreliable readings; thus it may be necessary to filter them. * Example: How to see it ? What can I do ? * If returned ranges contain a lot o zeros, can we simply modify the range_min so that 0-values are discarded ? text/html 2013-12-20T11:22:54+00:00 Anonymous (anonymous@undisclosed.example.com) http://espace-ressources.iutsf.org/lissi/rosdebugnav2d?rev=1387538574&do=diff Debug 2D navigation Measurements When to do it: for example in case of uncontrolled “recovery behavior” * measure: * make a bag: cd bagfiles; rosbag record -a * replay the bag : rosbag play mybagfile.bag * visualize the data: * getting information on a bag: text/html 2013-11-27T15:07:23+00:00 Anonymous (anonymous@undisclosed.example.com) http://espace-ressources.iutsf.org/lissi/rosdebugnetwork?rev=1385564843&do=diff DEBUG ROS OVER NETWORK Joystick teleoperation * Use case: roscore runs on some robot R. Joystick is on some remote client C * Make sure you've exported the master, and the IP of C. * On C: rosrun joy_node joy, then rostopic echo joy. When you move the joystick, you should see some output. text/html 2013-11-27T15:07:23+00:00 Anonymous (anonymous@undisclosed.example.com) http://espace-ressources.iutsf.org/lissi/rosdebugodometry?rev=1385564843&do=diff DEBUG THE ODOMETRY ! Check the odometry * Launch the robot R from a remote client C. * On C, plot positions and velocities: * Dont't forget to export the master and the IP of H (e.g. export ROS_MASTER_URI=<http://wifibot-lab:11311> and export ROS_IP=192.168.1.100) * text/html 2013-11-27T15:07:23+00:00 Anonymous (anonymous@undisclosed.example.com) http://espace-ressources.iutsf.org/lissi/rosdebugtf?rev=1385564843&do=diff DEBUG the TF * see ROS TF * Plot the tf tree: rosrun rqt_tf_tree rqt_tf_tree * print tf_echo text/html 2013-11-27T15:07:23+00:00 Anonymous (anonymous@undisclosed.example.com) http://espace-ressources.iutsf.org/lissi/rosinstall?rev=1385564843&do=diff Installation Les différents étapes de l'installation se trouvent sur le wiki ROS. La version la mieux supportée est Ubuntu 64 bits. Des problèmes peuvent survenir avec Ubuntu 32 bits. Ensuite les étapes importantes sont: * création d'un espace de travail text/html 2013-11-27T15:07:23+00:00 Anonymous (anonymous@undisclosed.example.com) http://espace-ressources.iutsf.org/lissi/roslaserfilter?rev=1385564843&do=diff Filtering Lasercan Sometimes, Laserscans contain odd values that need being filtered out. Creating a laser filter plugin * Create a plugin package: catkin_create_pkg range_filter_plugin roscpp pluginlib sensor_msgs filters *  Write a plugin *  Implement a filter plugin Running a laser pipeline text/html 2014-01-29T11:10:27+00:00 Anonymous (anonymous@undisclosed.example.com) http://espace-ressources.iutsf.org/lissi/rosmanipulation?rev=1390993827&do=diff Manipulation This page deals with manipulators (arms, motors,...) and manipulation in ROS. ---------- MoveIt! ---------- Dynamixel servos * If the USB2Dynamixel device is used, make sure that the user has read/write access on /dev/ttyUSB0. Usually, adding the user to text/html 2013-12-20T15:21:12+00:00 Anonymous (anonymous@undisclosed.example.com) http://espace-ressources.iutsf.org/lissi/rosnav2d?rev=1387552872&do=diff Navigation2D La navigation est l'une fonction les plus importantes pour le robot. Elle permet d'éviter les obstacles locaux, et de planifier des chemins globaux dans l'environnement. Dans ROS, il existe une stack navigation (“stack”=ensemble de packages) qui automatise et coordonne ces différentes étapes. Sa configuration est une étape délicate. text/html 2013-12-20T16:00:11+00:00 Anonymous (anonymous@undisclosed.example.com) http://espace-ressources.iutsf.org/lissi/rosodometry?rev=1387555211&do=diff Odométrie L'odométrie est nécessaire pour la navigation. La plupart des robots fournissent une odométrie, mais elle peut ne pas être suffisamment précise. Ici on présente plusieurs techniques destinées à améliorer sa qualité. ---------- text/html 2013-11-27T15:07:23+00:00 Anonymous (anonymous@undisclosed.example.com) http://espace-ressources.iutsf.org/lissi/rosovernetwork?rev=1385564843&do=diff ROS over the network This page deals with running ROS across multiple machines . This involves choosing one machine to be the master. Also see ROS network setup ---------- Teleoperation In this scenario, we want to control a mobile robot with a joystick plugged in a a fixed machine. How to do it ? Suppose the master is up and running. How to set up the remote machine : text/html 2014-01-15T10:44:47+00:00 Anonymous (anonymous@undisclosed.example.com) http://espace-ressources.iutsf.org/lissi/rosslam?rev=1389782687&do=diff SLAM: Self Localization and Mapping Prerequisite: * get a running catkin environment. * check your environment variables. * check the necessary topics are up and running (cmd_vel, laser, tf,...) * Filter the LaserScan if necessary. * Run: roscore and robot drivers and scripts. text/html 2013-11-27T15:07:23+00:00 Anonymous (anonymous@undisclosed.example.com) http://espace-ressources.iutsf.org/lissi/send_object?rev=1385564843&do=diff send_object Ce package a été développé par le LISSI pendant le stage d'Imene Bouyoucef. Il permet de coordonner un robot mobile qui déplace un objet, et un robot fixe disposant d'un manipulateur, qui dépose un objet sur le robot mobile. Lancement de la stack navigation: text/html 2013-11-27T15:07:23+00:00 Anonymous (anonymous@undisclosed.example.com) http://espace-ressources.iutsf.org/lissi/stagebouyoucef?rev=1385564843&do=diff Stage Imene Bouyoucef * Résumé : pendant son stage de M2 ScTIC au LISSI, Imene Bouyoucef a comparé plusieurs mécanismes de coordination entre un robot fixe muni d'un manipulateur et un robot mobile, sous ROS, avec pour objectif de transporter des objets. Elle a proposé une architecture à base d'actionlib, en simulation avec Stage. text/html 2013-11-27T15:07:23+00:00 Anonymous (anonymous@undisclosed.example.com) http://espace-ressources.iutsf.org/lissi/start?rev=1385564843&do=diff LISSI - équipe SYNAPSE Vous êtes sur la page de l'équipe SYNAPSE du LISSI, située en partie sur le site de Sénart. La page principale du LISSI: <http://www.lissi.fr> * Membres * Recherches * Publications * Tutoriels * Documents text/html 2013-11-27T15:07:23+00:00 Anonymous (anonymous@undisclosed.example.com) http://espace-ressources.iutsf.org/lissi/tutoriels?rev=1385564843&do=diff Tutoriels Logiciels / Software * Linux * Python * ROS * Latex,Zotero,dokuwiki,git,unison Hardware / Robots * Arduino * Khepera * Wifibot * Nao * Epuke * Parrot