Lesson 15:Diego1 Plus Introduction

From the beginning of this section due to the content involved in image processing, raspberry faction processing power has been powerless, after repeated testing, running some relatively simple video processing functions Raspberry faction 3b CPU usage must be 80 % Of the above, it can not meet the requirements of the follow-up function, it Diego1 hardware upgrade, I called Diego1 plus here,in the github corresponding code warehouse is diego1-plus

1.Hardware adjustment

The following table is Diego1 plus hardware adjustment program:

PhotoNameCountmapping diego 1#StatusFeaturediego 1# plus中的作用
Mini PC1RaspBerry PI3Replace•Intel I5 5200u
•4g DDR3 1600
•802.11 b/g/n 无线局域网
•蓝牙 4.1
•1 x 10/100 以太网端口
•1 x HDMI 视频/音频连接器
•4 个USB 3.0 端口
•2 个USB 2.0 端口
•尺寸:181 x 128x 55 mm
•主控制板
•Ubuntu 16.04
•ROS kinetic
•Other ROS package
buck0BuckDelete•大功率5A输出,低纹波
•板载USB输出
•恒压恒流两种可调模式
•过流保护
•板载电压、电流、功率显示
•为树莓派提供5v USB供电
12V 18650 battery212V 18650 batteryAdd 1 unit•标称电压 :12V
•放电电流 :6.0A
•充电电流 :0.5A
•内阻 :≤60mΩ
•最高充电电压 :12.6V
•最低放电电压 :9.0V
•一组为6自由度机械臂舵机供电
•一组为mini pc供电
Letv Pro Xtion1New•最大功耗:低于2.5瓦
•使用距离:0.8m~3.5m
•视野:58° H, 45° V, 70° D(水平,垂直,对角)
•传感器:深度
•深度影像大小:VGA(640*480):30fps; QVGA(320*240):60FPS
•接口:USB2.0
•作为机器人的视觉传感器,提供深度影像数据,点云数据

Adjustment instructions:

  • mini pc:Using intel low power processor I5 5200U, 4g memory, installed directly on the Diego1 plus base.
  • Power: As the mini pc with 12V power supply, so add a 12V 6A output 18650 battery to mini pc power supply, and the original 9v battery dedicated to the chassis motor power supply, coupled with the power supply to the arm of the battery, a total of three groups of 18650 battery.
  • Buck module: The 5V3A buck module, which was originally powered by raspberry, is no longer needed in Diego 1 plus.
  • Xtion pro: In the Diego1 plus new Xtion pro depth camera, Xtion pro visual range is 0.8m ~ 3.5m, so at the time of installation to ensure that Diego1 plus to operate within the scope of its visible range.

2.software adjustment

Software adjustment has two main aspects:

  • Operating System: Ubuntu mate 16.04 used by the original raspberry 3 to adjust to x64 architecture Ubuntu 16.04
  • ROS: In Diego1 because the raspberry-3 ros-kinetic-desktop adjusted to ros-kinetic-desktop-full, and full version of ROS

Even if you install the full version of ROS, we need to add the following package in order to ensure the normal operation of Diego1 plus

  • gmapping
  • amcl
  • move_base
  • hector slam
  • openni
  • tf2
  • sphinx相关包

Please execute the following code to complete the installation

sudo apt-get install ros-kinetic-gmapping
sudo apt-get install ros-kinetic-navigation
sudo apt-get install ros-kinetic-hector-slam
sudo apt-get install ros-kinetic-tf2-sensor-msgs
sudo apt-get install ros-kinetic-openni-camera
sudo apt-get install ros-kinetic-openni-launch
sudo apt-get install libopenni-sensor-primesense0
sudo apt-get install ros-kinetic-audio-common
sudo apt-get install libasound2
sudo apt-get install gstreamer0.10-*
sudo apt-get install python-gst0.10

Also related to the sphinx deb package to be replaced by amd64 version, the specific installation method please refer to Lesson12, download please select amd64 version of the package

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