基于ROS的qbo机器人

官网：http://openqbo.org/wiki/doku.php?id=software:start

Software

OpenQbo Distro

OpenQbo Distro is the Linux distro based on Ubuntu 11.10 (Oneiric Ocelot).The customization is based on deleting some desktop applications and programs that are not expected to be used in the robot. Also, some software systems and platforms have been added up, such asROS robotic platform, the speech recognition system Julius, and the speech synthesis system Festival.

Qbo Applications

• Qbo ROS Packages
• Qbo ROS Stacks
• Other Qbo Apps

↓ App	Category	Author(s)	Date of Creation	Short Description
qbo_arduqbo	ROS Package	Miguel Angel Julian Aguilar	2012-04-09	This package is the ROS serial driver for the controller boards of Q.bo
qbo_audio_control	ROS Package	Sergio Merino	2012-02-17	Node to control the sound devices volume
qbo_brain	ROS Package	Arturo Bajuelos, Sergio Merino	2012-02-28	Manages several Qbo apps, activating/deactivating dynamically ROS nodes in Qbo
qbo_camera	ROS Package	Miguel Angel Julian Aguilar	2012-04-10	Provides the launcher to the stereo webcam system and a calibration program
qbo_cereal_port	ROS Package	Gonçalo Cabrita, Miguel Angel Julian Aguilar	2012-04-10	Simple C++ serial port class for ROS.
qbo_face_following	ROS Package	Arturo Bajuelos	2012-02-22	Move the head and the base of the robot toward the detected face
qbo_face_msgs	ROS Package	Arturo Bajuelos	2012-03-26	Defines the ROS messages and services used in the qbo_face_vision stack
qbo_face_recognition	ROS Package	Arturo Bajuelos	2012-02-23	Learns and recognizes faces
qbo_face_tracking	ROS Package	Arturo Bajuelos	2011-11-24	Detects and tracks a face in the image and publishes it
qbo_internet_service	ROS Package	Sergio Merino	2013-01-02
qbo_joy_ctrl	ROS Package	Martin Zidek	2013-05-09
qbo_launchers	ROS Package	Miguel Angel Julian	2012-12-04	Launchers and ros init script
qbo_linphone	ROS Package	Sergio Merino	2012-02-20	This node is a sip client manager that allow to pick up calls.
qbo_listen	ROS Package	Sergio Merino	2011-12-12	Qbo_listen is an application for speech recognition
qbo_music_player	ROS Package	Arturo Bajuelos	2012-02-28	Uses hand gesture recognition to control a music player
qbo_object_recognition	ROS Package	Arturo Bajuelos	2012-02-28	Learns and recognizes objects
qbo_pymouth	ROS Package	Miguel Angel Julian Aguilar	2012-04-10	抢救地址：https://github.com/malevolent/qbo_pymouth
qbo_questions	ROS Package	Sergio Merino, Arturo Bajuelos	2012-02-20	This package is a simple question/answer node
qbo_random_move	ROS Package	Miguel Angel Julian Aguilar, Arturo Bajuelos	2012-04-10
qbo_self_recognizer	ROS Package	Arturo Bajuelos	2012-02-28	Uses Qbo's nose signals to verify if a spotted Qbo is a reflection in the mirror
qbo_stereo_selector	ROS Package	Arturo Bajuelos	2012-02-28	Uses the camera's stereo to select close objects and move the head
qbo_system_info	ROS Package	Sergio Merino	2012-02-16	This package is a service that provide system information
qbo_talk	ROS Package	Miguel Angel Julian Aguilar	2012-04-10	Wrapper for the Festival Speech Synthesis System
qbo_webi	ROS Package	Sergio Merino, Daniel Cuadrado, Miguel Julián, Arturo Bajuelos, Daniel Julián	2012-11-20	Web Interface to interact with the Q.bo robot
qbo_face_vision	ROS Stack	Arturo Bajuelos	2012-02-20	Computer vision algorithms for face tracking, following and recognition.

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Qbo drivers

Currently, the ROS driver for Q.bo is the qbo_arduqbo. Click here to learn how it works and to install it.

Firmware for board 1&2: https://github.com/OpenQbo/qbo_arduino

Firmware for board 3 : https://github.com/OpenQbo/qboard3_firmware

qbo_arduqbo         This package is the ROS serial driver for the controller boards of Q.bo

The list of the controllers that can be activated is the following:

• Base controller
• Battery controller
• IMU controller
• Joint controller
• LCD controller
• Mics controller
• Mouth controller
• Nose controller
• Distance sensors controller

Each controller subscribes and/or publishes to different topics.