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Category Archives: Software
Adding Lidar to TeddyRobot
Teddy Robot Architecture Overview
Here’s how everything in ROS works together for the Teddy Robot project.

ROSCon 2016 – Seoul
This years ROSCon is held in Seoul.
http://roscon.ros.org/2016/
https://vimeo.com/search?q=roscon+2016
https://www.youtube.com/results?search_query=roscon+2016
Experimenting with Apache CloudStack
DC/OS
ROSCon 2015 – Hamburg
This years ROSCon is held in Hamburg.
ROSCon 2014 – Chicago
This years ROSCon is held in Chicago.
http://roscon.ros.org/2014/program/
FreeNAS 9.1.1 Upgrade
Today I upgraded my FreeNAS storage from 8.3.1 to 9.1.1 with all RAIDZ pools still alive, all new ZFS features available, no problems so far.
Further I printed lots of 90 degree makerbeam brackets, and uploaded all my design files to Thingiverse.
Configuring ROS Dynamixel controllers
Installed the ROS hydro components for the dynamixel servos, and configured the pan tilt controllers.
Software so far looks OK, now I need to re-vive the dynamixels from the arduino and hopefully the protocol CRC errors will be gone.
<launch>
<node name=”dynamixel_manager” pkg=”dynamixel_controllers” type=”controller_manager.py” required=”true” output=”screen”>
<rosparam>
namespace: dxl_manager
serial_ports:
pan_tilt_port:
port_name: “/dev/ttyACM0″
baud_rate: 57600
min_motor_id: 1
max_motor_id: 13
update_rate: 20
</rosparam>
</node>
</launch>
<launch>
<!– Load controller configuration to parameter server –>
<rosparam file=”$(find teddy_dynamixel)/config/dynamixel_joint_controllers.yaml” command=”load”/>
<!– start specified joint controllers –>
<node name=”dynamixel_controller_spawner” pkg=”dynamixel_controllers” type=”controller_spawner.py”
args=”–manager=dxl_manager
–port=pan_tilt_port
–type=simple
pan_controller
tilt_controller”
output=”screen”/>
</launch>
pan_controller:
controller:
package: dynamixel_controllers
module: joint_position_controller
type: JointPositionController
joint_name: pan_joint
joint_speed: 2.0
motor:
id: 11
init: 512
min: 0
max: 1023
tilt_controller:
controller:
package: dynamixel_controllers
module: joint_position_controller
type: JointPositionController
joint_name: tilt_joint
joint_speed: 2.0
motor:
id: 12
init: 512
min: 0
max: 1023