Monitoring System for Ohmni Telepresence Robot based on ROS DIAGNOSTICS

📝 Table of Contents

• 📋 About
• 👩‍💻 Installation and Usage
• 🗂 Project Topology
• ✍️ Authors
• 🎉 Acknowledgements

📋About

ROS Diagnostics based monitoring system for Ohmni telepresence robot. It features diagnostics for the following sensors:

• Navigation camera
• Camera
• Scan sensor
• IMU (Inertial Measurement Unit)
• Joint States (Left/ Right wheels, caster, caster wheel, neck)
• Odometry

👩‍💻Installation and Usage

With bash script:

For easy compilation and running, a bash script is provided:

• Build with:

  ./compiler.sh --compile
  

• Clean build with:

  ./compiler.sh --cclean
  

• Run gazebo simulation, diagnostic aggregator, diagnostic updater and the rqt monitor with:

  ./compiler.sh --launch
  

  Otherwise you can append this option to the previous build commands (es ./compiler.sh --cclean --launch).
• Add Rqt Gui option to display multiple Rqt plugins into a single window:

  ./compiler.sh --cclean --launch --rqtgui
  ./compiler.sh --launch --rqtgui
  

Without script:

If you're having trubles with the script, you can start the simulation manually:

1. Build with

   cd ros_ws
   catkin_make
   

2. Run gazebo simulation

   source devel/setup.bash
   roslaunch gazebo_environment empty.launch
   

3. Run diagnostic updater in a new console tab/window

   source devel/setup.bash
   roslaunch diagnostic_updater updaters_launcher.launch 
   

4. Run diagnostic aggregator in a new console tab/window

   source devel/setup.bash
   roslaunch diagnostic_aggregator aggregator_launcher.launch
   

5. Run the monitor with

   rosrun rqt_robot_monitor rqt_robot_monitor 
   

🗂 Project Topology

src
└── tb_sim
    ├── diagnostic_aggregator
    │   ├── include
    │   ├── launch
    │   └── src
    ├── diagnostic_updater
    │   ├── include
    │   ├── launch
    │   └── src
    ├── gazebo_environment
    │   ├── launch
    │   ├── models
    │   └── worlds
    ├── tb_description
    │   ├── launch
    │   ├── meshes
    │   ├── rviz
    │   └── urdf
    ├── tb_gazebo
    │   ├── launch
    │   ├── plugins
    │   └── rviz
    ├── tb_gazebo_plugins
    │   ├── include
    │   └── src
    └── tb_teleop
        └── launch

✍️ Authors

• Conti Edoardo @edoardo-conti
• Federici Lorenzo @lorenzo-federici
• Melnic Andrian @andrian-melnic

🎉 Acknowledgements

• Preventive Maintenance and Smart Automation Robotics Class - Professor Alessandro Freddi