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In this document, we will guide you on How to Install Ubuntu MATE 16.04.2 LTS and ROS Kinetic on Raspberry Pi.

 

 

Step1: Download the image for Ubuntu MATE

Official Download Link for Ubuntu MATE for Raspberry Pi
https://ubuntu-mate.org/download/
It comes packaged as an XZ archive so use 7 Zip to extract the IMG file.

 

Step2: Download and Install Win32 Disk Imager

https://sourceforge.net/projects/win32diskimager/
Installing an OS onto a Raspberry Pi requires you to use another computer to write the image file onto a micro SD card. You must have a way to mount a micro SD card onto the computer using either an inbuilt or external USB reader.

  • Insert your micro SD card and launch Win32 Disk Imager.
  • Select your extracted Ubuntu Mate IMG file and change the Device to the drive letter of your micro SD Card.
  • Click Write to begin the process.

  • It will take about 10 minutes to write the image

 

Step 3: Eject the device safely in Windows, insert it into the Raspberry Pi 3 and power it on.
  • Connect Raspberry Pi to Monitor or TV using HDMI cable.
  • Select English as the Language and click Continue.

  • Select “I don’t want to connect to a wi-fi network right now” and click Continue.

  • Select an appropriate location on the map to set the timezone and system locale and click Continue

  • Select an appropriate keyboard layout and click Continue.

  • Enter an appropriate Name, Username and Computer name and then a password. Select “Log in automatically” and click Continue.

  • The installer will now proceed to configure the system.

  • When configuration is complete you will see the splash screen below.

  • Go to the System Menu in the top left corner and select Preferences – Internet and Network – Network Connections.

  • Select “Wired connection 1” under Ethernet and click the Edit button. Click on the “IPv4 Settings” tab at the top.

  • Click on the Method drop-down list and select Manual.

  • Enter an appropriate IP Address, a Netmask in CIDR notation and the Gateway address. Enter your networks DNS server address. Click Save. Click Close to finish.

 


 

How to install ROS Kinetic on Raspberry Pi 3 (Ubuntu Mate)

 

The ROS framework is compatible with a short list of Linux distributions. Neither the hardware side is not better. There are just few hardware architectures compatible with ROS. Raspberry Pi is one of the development boards compatible in terms of hardware with ROS.

So, I thought to install ROS Kinetic on the Raspberry Pi 3 running Ubuntu Mate. But only a certain version of Ubuntu Mate is compatible with ROS and Raspberry Pi 3, it is about the Ubuntu MATE for Raspberry Pi 3. This is an OS version released last year and include support for the WiFi and Bluetooth modules integrated into the Pi 3.

The OS version used by me on Raspberry Pi 3 is Ubuntu MATE 16.04.2.

The ROS version that I have installed is Kinetic Kame. Kinetic was released early last year and is compatible with Ubuntu Mate 16.04. I chose this version for two reasons:

  1. it will be officially supported for the next five years;
  2. it is the most complete version after Indigo;

The first step in installing ROS on Raspberry Pi 3 is called Mate. Ubuntu Mate. The operating system is simple to install. I followed the steps on the download page, and within minutes I managed to have a Pi 3 running Ubuntu Mate.

What you find below are the steps to install ROS Kinetic on the Raspberry Pi 3.

 

Step1 : Go to System -> Administration -> Software & Updates

 

Step2 : Check the checkboxes to repositories to allow “restricted,” “universe,” and “multiverse.”

Software and Updates

 

 

Step3 : Setup your sources. List
sudo sh -c ‘echo “deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main” > /etc/apt/sources.list.d/ros-latest.list’

 

Step4 : Setup your keys
wget http://packages.ros.org/ros.key -O – | sudo apt-key add –

 

Step5 : To be sure that your Ubuntu Mate package index is up to date, type the following command
sudo apt-get update

 

Step6 : Install ros-kinetic-desktop-full
sudo apt-get install ros-kinetic-desktop-full

 

Step7 : Initialize rosdep
sudo rosdep init
rosdep update

 

Step8 : Setting up the ROS environment variables
echo “source /opt/ros/kinetic/setup.bash” >> ~/.bashrc
source ~/.bashrc

 

Step9 : Create and initialize the catkin workspace

mkdir -p ~/catkin_workspace/srccd catkin_workspace/src

catkin_init_workspace

cd ~/catkin_workspace/

catkin_make

 

Step10 : Add the catkin_workspace to your ROS environment

source ~/catkin_workspace/devel/setup.bash

echo “source ~/catkin_workspace/devel/setup.bash” >> ~/.bashrc

 

Step11 : Check the ROS environment variables
export | grep ROS

 

The setup looks like in the picture 

Check the ROS installation
  1. Open a new terminal and type: roscore
  2. Open a new terminal and type: rosrun turtlesim turtlesim_node

 


Testing Rplidar

 

  • ### Create a ROS Workspace

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_init_workspace

  • ### Clone the ROS node for the Lidar in the catkin workspace src dir

git clone https://github.com/robopeak/rplidar_ros.git

  • ### Build with catkin

cd ~/catkin_ws/catkin_make

  • ### Set environment when the build is complete

source devel/setup.bash

  • ### Launch demo with rviz

Check the authority of rplidar’s serial-port :

ls -l /dev |grep ttyUSB

Add the authority of write: (such as /dev/ttyUSB0)

sudo chmod 666 /dev/ttyUSB0

Start a rplidar node and view the scan result in rviz.

$ roslaunch rplidar_ros view_rplidar.launch    #for rplidar A1/A2

Start a rplidar node and run rplidar client process to print the raw scan result

 

Result

 

Rviz will pop-up and show a background grid. The “view” from the laser scanner will be marked in red. The laser scanner is positioned at the center of the grid, it has a range of roughly 15cm to 6 meters, so you’ll be able to see everything around it on its scanning plane within that range.

Components required to build robot for ABU Robocon 2019 Mangolia Theme

With the release of ROBOCON 2019 theme we have been receiving lot of queries from all over India. In order to answer them all in a more efficient manner we have provided a general format in which you can submit your queries and also tried to answer your most frequently asked questions (FAQ’s)

Please download the “ROBOCON 2019 FAQ’s” from the link provided and follow the points mentioned it carefully when contacting us for your requests/queries/issues.

https://drive.google.com/file/d/1V6qYjXk7ofLw2QplBnJ0eBOYkw9KL4p_/view?usp=sharingROBOCON 2019 FAQs

Abu Robocon 2019 Mongolia Theme “GREAT URTUU” and rulebook launched. 2 Robots to be built, 1 wheeled manual robot another autonomous quadruped.

ABU Robocon 2019 Mongolia Theme rulebook

Download Rulebook

Explore the Product Category created for  ROBOCON 2019.

 

Theme Video:

ABU Robcon 2018 will be held in Vietnam.
ABU ROBOCON 2018 VIETNAM THEME & RULEBOOK Download

PDF ICONABU ROBOCON 2018 VIETNAM THEME & RULEBOOK Download

Figure_1.1_zones_and_areas_on_the_game_field

Figure_1.2_Game_field_top_view

Figure_1.3_Isometoric_View

Figure_1.4_Ring_Golden_Ring_Ring_Tree

Figure_1.5_Golden_Cup

Download ABU Robocon 2017 TOKYO Theme & Rulebook

abu robocon 2017 japan

downloadABU Robocon 2017 Japan RuleBook

downloadABU Robocon 2017 Figures

 

3d Model of gamefield of ABU Robocon 2017 Japan  for simulation for designing robots

We have made 3d models of gamefield for ABU Robocon 2017 Japan. Using these 3d Models. You can test you ideas and machines in a 3d simulation software. We have included files in format of .igs , .stp, catia, creo and solidworks.

https://drive.google.com/folderview?id=0B95DHaxO6EHJTWhiYkI0ZXRuV2s&usp=sharing

 

3d PDF with measurement tools of ABU Robocon 2017 Japan

download

 

 

The ABU Asia-Pacific Robot Contest “Robocon 2017” will be held in Tokyo, Japan.

To get the participants acquainted with the format of the contest, the theme rule book was launched by NHK Japan.

The theme revolves around the word “asobi” (play), which is also a fundamental philosophy behind Robocon.

In “asobi,” playful, unique, original show of skills is often more important than winning or losing, as everyone – friend and foe alike – can applaud and enjoy them.

The Safety:

In ABU Robocon, safety is a top priority. Participants shall give safety precedence over everything at all times, from the robot designing and building stages to taking part in the actual contest.

They are also asked to cooperate fully with the organizer in order to ensure a safe running of the contest for everyone involved, including team members, spectators, officials, and staff, as well as for the surrounding environment.

The Domestic Contests:

All domestic contests held in order to select the representing teams that will participate in ABU Robocon 2017 Tokyo should adhere to the rules laid out in this Rule Book.

However, it is understood that if (a) material(s) is/are not available, organisers are to employ the best possible replacement(s) available in their country/region.

Contest Dates:

ABU Robocon 2017 Tokyo 19 August, 2017

(Sat.) ————Test runs

20 (Sun.) ————Contest

21 (Mon.) ———–Friendship Exchange

Venue: Ota-City General Gymnasium (Ota-ku, Tokyo)

Contest Rules:

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Contest Outline:

  1. Each game will be conducted between two teams, each with one (1) robot.
  2. The game field is a rectangle divided into two sides for each team. (see Figures)
  3. Each side consists of a Start Zone, Throwing Area, and Loading Area as seen in Figures.
  4. On the field are seven (7) spots consisting of a circular table attached to a column with varying heights and areas.
  5. Of the seven (7) spots, five (5) are placed along the centre line dividing the sides, while the remaining two (2) are placed near to each side.
  6. The heights and sizes of each spot are as shown in Figures.
  7. At the start of the game, a beach ball rests on the centre of all the spots.
  8. The number of discs a team can use during the game shall be fifty (50) placed at the Loading Area.
  9. After the start of the game, the team may load discs onto its robot once the robot reaches the Loading Area.
  10. The robots of both teams may throw discs at any ball on any spot to knock the balls off the spots.
  11. Scores will be counted when a team’s disc lands on a spot where its ball has been knocked off.
  12. When all the balls have been knocked off of their spot and a team successfully lands its discs on all the spots, that team reaches “APPARE!”, and is declared the winner of the game.
  13. If neither team reaches “APPARE!”, and either both use up the fifty (50) discs or the game time of three (3) minutes passes, the game shall end. The winner will be decided by who has the higher score at the said end of the game.

Game Procedure:

Set-up:

  1. Prior to each game, a one-minute set-up time is given to the teams through the signal from the referee.
  2. The three (3) team members and up to three (3) pit crew members shall be allowed to participate in the set-up.
  3. Each team shall commence set-up when the signal is given, and must stop when the one (1) minute is up.
  4. If a team fails to complete its set-up within the given one (1) minute, it may resume set-up after the start of the game by obtaining permission from the referee.

Start of the game:

  1. After the end of set-up time, the game shall begin at the signal from the referee.
  2. Teams that complete their set-up after the start of the game shall obtain permission from the referee at that moment to commence moving their robots.

Team members during the game:

  1. Team members are not allowed to enter the game field without permission from the referee.
  2. Team members are not allowed to touch their robot other than after referee permission during a retry or disc loading.
  3. If a team is controlling the robot manually, one (1) pre-registered operator may do so from the designated area outside the game field.

Handling of the discs:

  1. During the game, a team may load the discs once all parts of the robot touching the game field floor completely enter the Loading Area, and permission is given by the referee.
  2. Team members may load the discs manually.
  3. Jigs and containers such as magazines may be used during loading, but if these are to remain attached to the robot, they shall be included in the 6 robot size.
  4. After loading, a team may restart after permission from the referee. Until then, no part of the robot may touch the floor outside the Loading Area.
  5. If a team is deemed to be in violation, the robot must return to LA for a mandatory retry.
  6. The robot may throw discs only when it is in contact with the Throwing Area and no other area.
  7. The discs for each team will be prepared by the organiser.
  8. If a disc that was loaded onto a robot falls on the floor in or outside the game field during the game, that disc becomes invalid and can no longer be used.

Score:

  1. After the start of the game, a team is given the following points when its disc lands on a spot without a ball 1) The spot nearest to the team: 1 point, regardless of number of discs 2) The five spots aligned in the center: 1 point per disc 3) The spot farthest from the team: 5 points per disc.
  2. Points shall be given regardless of whether the ball is knocked off before or after that disc lands.
  3. The score shall be finalized after the referee counts all the discs on the spots without their balls, after the end of the game.

End of the game:

  1. Once a team reaches “APPARE!”, the game shall end in that instant.
  2. The game shall also end if neither team reaches “APPARE!” and the game time of three (3) minutes passes.
  3. The game shall also end if both teams use up the fifty (50) discs without reaching “APPARE!”

Deciding the winner:

The winner shall be decided in the following order of priority:

1) The team who reaches “APPARE!”

2) The team with the higher score.

3) The team with more points from landing on the farthest spot.

4) The team with more spots from which they gained points 7.

5) The team with a higher total score gained from the center spots 6) Judges’ decision.

Retries:

A retry is allowed only after the referee gives permission upon request from a team member.

The team granted a retry shall immediately carry its robot to the Start Zone and begin work there.

A team may ask for as many retries as necessary.

A team may not load discs during a retry.

The team may use discs already loaded on the robot before the retry is granted.

The team shall restart after permission from the referee.

Violations:

The team who commits the following shall be deemed to be in violation of the rules and subject to a mandatory retry.

The robot or a part of the robot comes in contact with the No Contact Area.

A team member touches the robot without referee permission.

A team makes a false start. Any other acts deemed to be an infringement on the rules.

Disqualifications:

If a team is deemed to have committed the following intentionally, the team shall be disqualified for that game.

Any acts that pose danger to the game field, its surroundings, the robots, and/or people.

Use of wind as obstruction, and any other activity that can be judged to have no other purpose than to obstruct the opponent.

Any act of disobedience against a referee’s warning.

Any other act that goes against the spirit of fair play.

Teams:

One (1) representing team from each country or region shall participate in ABU Robocon 2017.

As the host country, Japan shall be represented by two (2) teams.

A team consists of three (3) team members who are students and one instructor, who all belong to the same university/college/polytechnic.

In addition to the above mentioned 6.2, three (3) members are allowed to be registered as the pit crew.

The members of the pit crew shall also be students from the same university/college/polytechnic as those in 6.2

The pit crew may assist in the work in the pit area, in carrying the robot from the pit area to the game field, and during set-up.

Graduate students cannot participate.

Robot:

Each team may bring one (1) robot only to participate in the contest.

The robot must be hand-built by students from the same university/college/polytechnic.

The robot may be fully automatic or controlled manually. It may be controlled wirelessly or by cable.

The robot must not split into parts during the game.

Robot size:

The robot (excluding the controller and cable) must fit into the Start Zone at the start of the game, including the space above.

Throughout the game, the robot together with any containers used in disc loading shall not exceed length 1500mm x width 1500mm x height 1800mm.

Robot weight:

The total weight of the robot, any containers that will be attached to the robot after disc loading, controller, cables, and any other equipment the team brings for use in the game must not exceed 25kg.

Back-up batteries (of the same type as that originally installed in the robot) are exempt.

Power source of the robot:

Each team shall prepare its own power source.

All batteries used in the robot, controller, and any other device used during the game shall not exceed 24V.

The maximum voltage within the circuit(s) shall not exceed 42V.

Teams using compressed air must use either a container made for the purpose, or a plastic soda bottle in pristine condition that is prepared appropriately. Air pressure must not exceed 600kPa.

Any power source deemed dangerous may be banned from use.

Safety:

The robot must be designed and built so as to pose danger to no one, including the team, the opposing team, the people in the surroundings, and the venue.

Safety rules:

The use of the following are prohibited: lead-acid batteries (including colloidal), power sources that involve flames and/or high temperatures, anything that may contaminate the game field, as well as anything that may cause the robots to break down and/or create a situation that hinders the procession of the contest.

If laser is used, it shall be class 2 or less. Full care must be taken not to damage the eyes of anyone in the venue, from the design and practice stages.

Emergency stop buttons must be built on all robots.

1) Specifications: it shall be a red button on a yellow base. It is recommended that teams adhere to ISO 13850, or JIS B 9703. (JIS = Japanese Industrial Standard) 10.

2) Placement: it shall be placed where it is easy to find and activate, so that team members or the referee can stop the robot immediately in an emergency situation.

The referee and organisers will check to make sure the robot meets the safety requirements, and prohibit any team that does not meet them from participating.

Robocon 2016 Thailand theme rulebook problem statement

Download Robocon 2016 Thailand theme rulebook problem statement Now

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Watch Robocon 2016 Thailand Theme video in HD