real time simulation using v-rep and ros in human

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By

Yusak Arie Danuwiharja 11111057

BACHELOR’S DEGREE in

MECHANICAL ENGINEERING – MECHATRONICS CONCENTRATION FACULTY OF ENGINEERING AND INFORMATION TECHNOLOGY

SWISS GERMAN UNIVERSITY EduTown BSD City

Tangerang 15339 Indonesia

August 2015

Revision after the Thesis Defense on August 4^th 2015

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Yusak Arie Danuwiharja STATEMENT BY THE AUTHOR

I hereby declare that this submission is my own work and to the best of my knowledge, it contains no material previously published or written by another person, nor material which to a substantial extent has been accepted for the award of any other degree or diploma at any educational institution, except where due acknowledgement is made in the thesis.

Yusak Arie Danuwiharja

_____________________________________________

Student Date

Revision after the Thesis Defense August 4^th 2015 Approved by:

Dr. Ir. Prianggada Indra Tanaya, MME

_____________________________________________

Thesis Advisor

Date

Dr. Ir. Gembong Baskoro, M.Sc.

_____________________________________________

Dean Date

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Yusak Arie Danuwiharja ABSTRACT

REAL TIME SIMULATION USING V-REP AND ROS IN HUMAN FOLLOWING TRANSPORTER ROBOT

By

Dr. Ir. Prianggada Indra Tanaya, MME, Advisor

SWISS GERMAN UNIVERSITY

Study and experimentation of interfacing between robot simulator and robot operating system has been performed. The integration succeeded to be performed in off-line mode. The robots, namely HFTR (Human Following Transporter Robot) and Midori AGV, physical behavior study was imported into the simulator. The simulation application was performed for swarm behavior of both. In this work, the interfacing of simulator and HFTR is conducted to achieve on-line control of the robot operating system (ROS) that installed on HFTR through simulator (V-REP, Virtual Robotics Environment Platform). The interface module is developed using C++ (Application Programming Interface) and some software bridge using Lua programming language.

Test cases are developed to test the on-line connectivity, such as on-line latency, target position achievement.

Keywords: simulation, v-rep, Robot Operating System, virtual, mock, environment, realtime, C++, Lua, API.

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Yusak Arie Danuwiharja DEDICATION

I dedicated this work to the ROS community and to my country Indonesia

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Yusak Arie Danuwiharja ACKNOWLEDGEMENTS

Thanks to God almighty for making it possible for me to finish this thesis.

I would like to thanks to Mr. Tanaya for being the advisor of my thesis and help me being a better man.

Special thanks to Benarivo, Davin, Franklin, Gatra, Ardi, Edo, and Benedict for being in the same boat with me.

I would like to thanks to the rest of my colleague that help me in form of moral support and for giving me ideas me during this thesis.

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Yusak Arie Danuwiharja TABLE OF CONTENTS

Page

STATEMENT BY THE AUTHOR ... 2

ABSTRACT ... 3

DEDICATION ... 5

ACKNOWLEDGEMENTS ... 6

TABLE OF CONTENTS ... 7

LIST OF FIGURES ... 10

LIST OF TABLES ... 11

LIST OF CODES ... 12

INTRODUCTION ... 13

1.1 Background ... 13

1.2 Thesis Purpose ... 13

1.3 Thesis Problems ... 14

1.4 Thesis Scopes ... 14

1.5 Thesis Limitations ... 14

1.6 Short methodology ... 15

1.7 Thesis Organization ... 15

LITERATURE REVIEW ... 17

2.1 Introduction ... 17

2.2 Human Following Transporter Robot (HFTR) ... 17

2.3 Autonomous Guided Vehicle (AGV) ... 18

2.4 Virtual Reality ... 19

2.5 Robotic Framework ... 19

2.5.1 Robot Operating System (ROS) ... 20

2.6 Virtual Robotic Experimentation Platform (V-REP) Simulator ... 21

2.6.1 V-REP ROS Plugin ... 21

2.6.2 V-REP ROS Bridge ... 22

2.7 Concluding Remark ... 22

METHODOLOGY ... 23

3.1 Methodology Overview ... 23

3.2 Torque Calculation ... 23

3.3 System Environment Setup ... 25

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3.3.3 V-REP ROS Plugin Setup ... 28

3.3.4 SSH Setup ... 29

3.4 ROS Differential Drive Package ... 29

3.4.1 PID Controller Value ... 30

3.5 Creating ROS Package ... 30

3.5.1 Package Setup ... 31

3.5.2 Creating Subscriber or Publisher Topic for V-REP ... 34

3.5.3 ROS Package Structure ... 36

3.6 Simulation Setup ... 37

3.6.1 Creating a Custom User Interface ... 37

3.6.2 Simulation Loop ... 39

3.6.3 Simulation Control Method ... 41

3.6.4 V-REP PID Controller ... 44

3.7 Concluding Remark ... 44

RESULTS AND DISCUSSIONS ... 45

4.1 Introduction ... 45

4.2 Startup ... 45

4.2.1 ROS Node Overview ... 47

4.2.2 Rosbag Overview ... 48

4.3 V-REP and ROS communication analysis ... 49

4.3.1 Rosbag data analysis ... 49

4.3.2 Distance measurement result... 52

4.4 Comparison with Previous Work ... 53

CONCLUSIONS AND RECCOMENDATIONS ... 54

5.1 Conclusion ... 54

5.2 Recommendations ... 54

REFERENCES ... 55

Appendices ... 58

A Mechanical Overview ... 58

A.1 Teegut Mechanical Design ... 58

B Electrical Component ... 59

B.1 Teegut Electrical Design ... 59

B.2 Arduino Datasheet ... 60

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B.4 Motor Specifications ... 67

B.5 Processor Intel i3 – 3210 (teegut) ... 69

C Package Data ... 72

C.1 cmakelist.txt ... 72

C.2 package.xml ... 72

D Program Code ... 73

D.1 teegut_ros.cpp ... 73

D.2 V-REP Code ... 77

D.3 teegut.launch ... 80

E Description ROS Nodes for Publisher and Subscriber ... 82

F ROS Publishers type ... 83

G ROS Subscribers type ... 90

CURRICULUM VITAE ... 97