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The relationship between different nodes. Skip to content. Star 9. Subscribe Loomo published image messages and process 9 stars 6 forks. Branches Tags. Could not load branches. Could not load tags. Latest commit. Git stats 16 commits. Failed to load latest commit information. View code. A loomo robot and a computer: a dream team for area learning This project demonstrates 1 getting a variety of data from a loomo robot captured by its sensors, such as the color images, the depth images, and the parameters of cameras, and 2 receiving and processing these data on a computer.

Install the publishing app on loomo The publishing app publishes the data acquired by the loomo robot via the rosjava framework to corresponding topics. About Subscribe Loomo published image messages and process Resources Readme. Server error the last two days no matter what I do. Making the entire purchase pointless. The developer, Segway Robotics Inc. The following data may be collected and linked to your identity:. The following data may be collected but it is not linked to your identity:.

Privacy practices may vary, for example, based on the features you use or your age. Learn More. With Family Sharing set up, up to six family members can use this app. App Store Preview. Note : A different command must be sent before the flashing command will be accepted.

Note : The value is ranged from 0 to 13 and the default vaule in developer mode is 0. The base of Loomo is built on the latest two-wheel self-balancing technology. By using the Base SDK, developers can control the base's linear and angular velocity.

While controlling the robot base, it is required to set it at a continuous velocity. The robot base will stop moving if there is no velocity setting within ms. Odometry provides an estimated robot pose x, y, orientation relative to a starting pose. The origin of the coordinate frame is the x, y, z center of the base. The X-axis is pointed to the front of the robot, y to the left, and z perpindicular to the ground. Theta follows the Right Hand Rule counter-clockwise.

It updates every 50ms. Call getOdometryPose to get the Pose at a certain time microseconds. We only buffed the data for a few seconds. Odometry is very useful, but when you try to make Loomo walk from point A to point B, you have to remap these points from your virtual map to odometry map.

So we provided an API which can set the starting point. It is important to know that once you set the starting point, the getOdometryPose will return Pose2D based on its previous starting point.

And before you set the starting point again, please make sure to call cleanOriginalPoint to clear the previous starting point. Loomo will try to go over each of these checkpoints one by one. The accuracy is a range of 0. In this mode, Loomo will try to move to a point by receiving a distance and direction relative to itself. The add checkpoint API is not usable, so call update target instead.

The update target API will make the robot move to the latest point. In some special cases, a third wheel is added to enhance the stability of Loomo. After calling setCartMode true , Loomo will stop self-balancing but still accept speed commands. The onCheckPointArrived callback is supposed to call when Loomo arrives at each checkpoint. However, an existing bug makes it such that Loomo will be called only when it arrives at the last checkpoint. There is only one thing about Loomo that needs to be understood.

It only has 2 wheels as we have only 2 legs, so it has limitations like all Segways: "maintaining balance is its main priority". Because Loomo always needs to maintain self-balance, when it wants to accelerate, it will first tilt its body, and then move. Correspondingly, when Loomo wants to slow down, it will first tilt its body in the opposite direction.

So, there is always a delay in controlling Loomo. Loomo cannot walk sideways. If the target point is set to the side of Loomo, it will walk in an arc to reach this point.

Similar to driving a car, Loomo will slow down when it turns, and it has been handled by the SDK internally. Just try this method:. Loomo will arrive at the point x,y and then turn to the orientation at theta. The value of theta can only range from -PI to PI. Under the Raw Mode, the maximum adjustible speed is 0. But under the Navigation Mode, Loomo has been set to go faster. The navigation mode allows Loomo to easily move to a certain point. Accuracy is about 0. So if you set a point to less than 0.

The updateTarget method must be called continuously. If it is not called within ms, Loomo will stop moving. Therefore, if the frequency of the call is just slightly more than ms, Loomo will jitter. Do not pass the target distance and orientation detected in DTS directly to the updateTarget method, which will cause Loomo to hit the target.

The correct way is to subtract the distance between Loomo and the target from the total distance. Visual localization system is a better alternative for navigation than Odometry. VLS is based on depth images to calculate coordinate data, which has higher accuracy than Odometry. Note : The navigation data source should be set to Base. Download the sample code of Locomotion SDK. Download the Track Imitater sample code of Phone. Download the Track Imitater sample code of Robot.

Download the VLS sample code of Robot. See the detailed Locomotion SDK document. These built-in sensors can detect events or changes in quantities. The ultrasonic sensor is designed to detect obstacles and avoid collisions. The ultrasonic sensor is mounted in the front of Loomo, with a detection distance from millimeters to millimeters and an angle beam of 40 degrees. Loomo also has two infrared sensors to observe road condition changes in order to travel smoothly.

Note : The unit of Distance is the millimeter. The unit of Angle is the radian. The unit of LinearVelocity is meters per second. The unit of AngularVelcity is radians per second. The unit of LeftTicks and RightTicks is Tick, which equals one centimeter when the tires are properly inflated.

Note : There is a known issue that when the distance between the obstacle and the ultrasonic sensor is less than millimeters, an incorrect value may be returned. Note : When you call robotTotalInfo. With this, one can obtain spatial and rotational coordinates of each of Loomo's stored coordinate frames, e.