TEO
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Contents |
Description
Teo is a mobile robot based in a Segway RMP400.
It is based in the mobile robotic platform Segway RMP 400,
| weight | 109 kg |
| payload | 181 kg |
| top speed | 29km/h (8.1 m/s) |
| Tires | 4x 53 cm (D) |
| Working Temp. | -10ºC to 50 ºC |
| Batteries | (4+1) Li-Ion 74V 5.4 Ah |
| Autonomy | 19..24 km (8h) |
The platform is equipped with a central box with a rugged computer Dual Core 2 Duo, 4GB ram with place for another, a GPS, DCDC converters for 12 and 5V, router WiFi. The external structure holds two laser sensors, a pair of cameras (stereo), the 3D laser for mapping and localisation and a ToF Camera for obstacle avoidance. It has emergency stops (button and remote) too.
It works with the IRI's software and ROS.
Hardware
- SegwayRMP400 Hardware Changes
- Teo Components
- Teo Box Design
- Teo Box Electric Diagram
- SegwayRMP400 Batteries
- Teo Malfunctions
Software
Onboard Computer Data
Drivers and Middleware
Low level drivers
ROS (robotic operative system)
- Teo ROS Stack
- Segway RMP 400 ROS IRI Driver
- How to use Teo recorded rosbags
- How to use the package laser_scan_matcher (ICP)
APPS
Navigation
Odometry
- First stage: Odometry from segway platform
- Second stage: Trying to improve odometry using external sensors
- Third stage: Use a Kalman Filter to fusion all odometry sources
- Testing new odometry algorithms
Information
Navigation types
Tests
Expected Behaviour
Information to check when a failure happends to check for problems in the hardware or software:
Failure template
When a failure is found in segway hardware/software please fill in this template with data from the test:
Testing spins
- 17/02/2011 Test1 - ROS Initial Testing (SUCCESS)
- 23/02/2011 Test2 - ROS Odometry Testing (FAIL)
- 24/02/2011 Test3 - ROS Odometry Testing (SUCCESS)
- 09/03/2011 Bug - ROS segway driver
- 25/03/2011 Test4 - Real Odometry Testing (FAIL)
- 28/03/2011 Test5 - Real Odometry using wheel displacement (SUCCESS)
- 01/04/2011 Test6 - Robot and sensors (SUCCESS). Rosbag (SUCCESS), odometry (SUCCESS) and navigation (HALF SUCCESS)
- 05/04/2011 Test7 - DataSet FME Faculty (SUCCESS)
- XX/05/2011 Test8 - Real Odometry using wheel velocity (SUCCESS)
- 25/05/2011 Test9 - Segway status rosbags making an 8 trajectory in different surfaces (SUCCESS)
- 07/06/2011 Test10 - First testing of odometry 3D, GPS and TCM3 (TODO)
