This recipe steps you through how to adapt your NI Robotics Starter Kit into a remotely-operated (teleoperable) robot.
90% of the actions we take while driving our cars are from sight (1), so it would make sense that a camera on a robot would be a good step towards programming autonomy for the robot. The basic steps include: attaching an IP ethernet-based camera to the starter kit, and mounting a wireless router. Depending on what router you get, you may be able to configure a more advanced network configuration.
1a. Booher, H. R., "Effects of visual and auditory impairment in driving performance," Human Factors, 1978, 20, pp. 307-320
1b. Bryan, W.E., "Research in vision and traffic safety," Journal of the American Optometric Association, 1957, 29, pp. 169-172
1c. The actual value of 90% is disputed among researchers. (Castro, C., Human Factors of Visual and Cognitive Performance in Driving, 2009)
List any hardware and software components used to build your robot
Part Description | Vendor | Model Name/Number |
---|---|---|
NI Robotics Starter Kit (includes: Mobile Platform, Sensors and FPGA_Real-Time Processing Targets) | National Instruments | 781222-01 |
Wireless router | Asus | RT-G32 |
IP Camera | Axis | M1011 |
IR Distance Sensor | Sharp | GP2D12 |
5V Regulator | Radio Shack | |
DC Coaxial Plug |
Metric and English Allen wrench set
Small adjustable wrench or a pair of pliers
Wire cutters and strippers
Soldering tools
Wire
Zip ties
Screwdriver
CAT-5 cable (Ethernet cable), crimps, and crimp tool
Screws for mounting the WiFi router (I used two 8-32 's )
IR distance sensor (I used a Sharp GP2D12, which has drivers that come with LabVIEW Robotics)
DC Coaxial Plug for the router and camera, or just cut off their power supplies
5V regulator or a regulator at the voltage of your camera / router
Software used
NI Robotics Starter kit software, which includes: LabVIEW Robotics, LabVIEW Real-Time, LabVIEW FPGA software modules
DD-WRT for my particular router: http://www.dd-wrt.com/site/index
Both the camera and router are usually powered from a DC power supply that you plug in to the wall. The robot's battery will source the power in this case. Be sure to check the electrical specifications of your router and camera before continuing. The router used here runs on 12V and the camera uses 5V.
And that's it for power! Afterwards, the insides of your bot should look something like this
Now just put the bot back together. Basically, just put the two halves back together and plug in the encoder feedback cables.
If you want to have easier access to the battery and potentially change it out, before you put the bot back together, unscrew the plastic plate the battery is attached to and flip it over. You may also want to cut the zip-ties. To make the battery a little more secure when mounted upside down, you can buy some "hook and loop" (Velcro) material to make straps that go through the zip-tie slots in the plastic plate. Use the straps to repeatably secure the battery to the plastic plate.
The router used was an Asus RT-G32 so that DD-WRT would install (see blog entry for why this is useful). It was a little bit of a pain to get DD-WRT on this particular router compared to some others (click here for instructions for the RT-G32). There are plenty of other routers out there that support DD-WRT (like the Netgear WNDR3300). Just check the website at: http://www.dd-wrt.com/site/support/router-database
Helpful Links:
NI Robotics Technical Blog: http://decibel.ni.com/content/blogs/MechRobotics
Related posts:
To download VIs to control the teleoperated robot, see: How to Convert Starter Kit into Teleop,
For information on advanced networking, see: Teleoperate Starter Kit from 20 Floors Away,
To make the robot autonomous, see; Starter Kit Obstacle Avoidance Via Vision Processing
Two Questions....
1) How did you condigure your Router? Specificaly, did you use Client Bridged, or Client Unbridged? I'm looking at setting up several RSK's so it seems like Client Unbridged would be easier, 'cos all the routers could be setup the same. But then I need to deal with Port Forwarding through the routers. Does LabVIEW use any specific ports for downloading and debugging?
2) If I go Bridged, then I'd like to assign each RSK it's own fixed IP. How would I do that?
Phil.
1. The router was configured as a wireless bridge--not a client bridge. Just a regular bridge. That way everyone is on the same subnet.
2. If you're using DD-WRT to configure the bridge, see http://www.dd-wrt.com/wiki/index.php/Wireless_Bridge for reference on how to setup the fixed IP (typically referred to as the local IP on the settings).
Hi
I love this link, It is extremely useful.
Im uni, and im starting a small project on getting the same robot to move over the web.
I just had a question/request, how to i then link the robot to labview again.
Thanx in advance
Hi...
Great job
But the VIs are not accessible. How do we get them...
Could you tell me how the router was set up to the sbrio and also what TCP port did you use in the Labview VI. I am doing a Project trying to sent data from python to sbrio wirelessly with socket programming.
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