{"id":6504,"date":"2017-07-11T15:45:53","date_gmt":"2017-07-11T13:45:53","guid":{"rendered":"https:\/\/niryo.com\/?p=6504"},"modified":"2024-07-18T17:19:23","modified_gmt":"2024-07-18T15:19:23","slug":"niryo-one-ros-robot-systeme-exploitation","status":"publish","type":"post","link":"https:\/\/niryo.com\/fr\/niryo-one-ros-robot-systeme-exploitation\/","title":{"rendered":"Niryo One et ROS (Robot Operating System)"},"content":{"rendered":"<p><span style=\"font-weight: 400;\">ROS signifie <\/span><a href=\"http:\/\/www.ros.org\/\"><span style=\"font-weight: 400;\">Robot Operating System<\/span><\/a><span style=\"font-weight: 400;\"> (syst\u00e8me d&rsquo;exploitation de robot). Il s&rsquo;agit d&rsquo;un cadre robotique pour les d\u00e9veloppeurs. Si vous l&rsquo;avez d\u00e9j\u00e0 essay\u00e9, vous savez que ROS est assez difficile pour les d\u00e9butants. Il comporte beaucoup de difficult\u00e9s, et la plupart du temps, vous devez apprendre \u00e0 travers un robot virtuel, car les robots industriels sont trop chers.<\/span><\/p>\n<p><span style=\"font-weight: 400;\">Que vous soyez un d\u00e9butant ou un utilisateur avanc\u00e9 de ROS, avec Niryo One (maintenant disponible) vous pourrez prendre plaisir \u00e0 l&rsquo;apprendre, et tester quelques applications industrielles int\u00e9ressantes.<\/span><\/p>\n<p><span style=\"font-weight: 400;\">Dans ce billet, nous allons expliquer pourquoi et comment nous utilisons ROS pour faire de Niryo One un robot parfait pour apprendre et tester des processus industriels \u00e0 la maison ou \u00e0 l&rsquo;\u00e9cole.<\/span><span style=\"font-weight: 400;\">\u00a0<\/span><\/p>\n<h2><strong>Pourquoi avons-nous choisi d&rsquo;utiliser ROS ?<\/strong><\/h2>\n<p><span style=\"font-weight: 400;\">Nous voulions que Niryo One soit plus intelligent et autonome. Au tout d\u00e9but, nous avons pens\u00e9 \u00e0 simplement utiliser Arduino pour contr\u00f4ler le robot, mais il s&rsquo;est av\u00e9r\u00e9 que ce n&rsquo;\u00e9tait pas suffisant pour un environnement robotique complet, surtout pour un bras robotique \u00e0 6 axes.<\/span><\/p>\n<p><span style=\"font-weight: 400;\">C&rsquo;est pourquoi nous avons ajout\u00e9 une carte Raspberry Pi 3, afin que nous puissions ex\u00e9cuter ROS dessus, ajouter beaucoup plus de fonctionnalit\u00e9s et rendre Niryo One autonome. Vous n&rsquo;avez pas besoin d&rsquo;installer de logiciel sur votre ordinateur pour contr\u00f4ler Niryo One, tout ce dont vous avez besoin est un navigateur web ou une application mobile.<\/span><\/p>\n<p><span style=\"font-weight: 400;\">Voici quelques raisons pour lesquelles nous avons choisi d&rsquo;utiliser ROS :<\/span><\/p>\n<ul>\n<li><span style=\"font-weight: 400;\"> ROS est de plus en plus utilis\u00e9 dans des applications r\u00e9elles : l&rsquo;industrie, mais aussi les voitures autonomes, les drones, la recherche&#8230; Enfin, ROS est vraiment utile et a un bel avenir.<\/span><\/li>\n<li><span style=\"font-weight: 400;\"> Il y a une communaut\u00e9 \u00e9norme et croissante, \u00e0 partir de laquelle vous pouvez obtenir de l&rsquo;aide et apprendre la robotique avec d&rsquo;autres passionn\u00e9s.<\/span><\/li>\n<li><span style=\"font-weight: 400;\"> La plupart du code ROS est <\/span><a href=\"https:\/\/github.com\/ros\"><span style=\"font-weight: 400;\">open source<\/span><\/a><span style=\"font-weight: 400;\">, ce qui nous permet de d\u00e9velopper plus de fonctionnalit\u00e9s plus rapidement.<\/span><\/li>\n<li><span style=\"font-weight: 400;\"> Avec ROS, vous pouvez faire des choses bien plus int\u00e9ressantes que simplement faire clignoter une LED : perception de l&rsquo;environnement avec une cam\u00e9ra et des capteurs, planification de mouvements, gestion de syst\u00e8me complexe&#8230;<\/span><\/li>\n<\/ul>\n<h2><strong>Comment utilisons-nous ROS sur Niryo One ?<\/strong><\/h2>\n<p><span style=\"font-weight: 400;\">________________________________________<\/span><span style=\"font-weight: 400;\">\u00a0<\/span><\/p>\n<p><span style=\"font-weight: 400;\">Nous utilisons ROS sur une version Raspberry Pi d&rsquo;Ubuntu. La base de ROS est tr\u00e8s l\u00e9g\u00e8re et fonctionne parfaitement sur la carte Raspberry Pi 3.<\/span><\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-medium wp-image-6502\" src=\"https:\/\/niryo.com\/wp-content\/uploads\/2024\/07\/image-18-1-300x203.png\" alt=\"\" width=\"300\" height=\"203\" srcset=\"https:\/\/niryo.com\/wp-content\/uploads\/2024\/07\/image-18-1-300x203.png 300w, https:\/\/niryo.com\/wp-content\/uploads\/2024\/07\/image-18-1-1024x694.png 1024w, https:\/\/niryo.com\/wp-content\/uploads\/2024\/07\/image-18-1-768x520.png 768w, https:\/\/niryo.com\/wp-content\/uploads\/2024\/07\/image-18-1.png 1107w\" sizes=\"auto, (max-width: 300px) 100vw, 300px\" \/><\/p>\n<p><i><span style=\"font-weight: 400;\">Architecture logicielle de Niryo One &#8211; ROS et tout ce qui l&rsquo;entoure<\/span><\/i><\/p>\n<p><span style=\"font-weight: 400;\">________________________________________<\/span><\/p>\n<p>&nbsp;<\/p>\n<p><span style=\"font-weight: 400;\">Voici quelques packs ROS que nous utilisons :<\/span><\/p>\n<ul>\n<li><a href=\"http:\/\/moveit.ros.org\/\"><span style=\"font-weight: 400;\">Moveit<\/span><\/a><span style=\"font-weight: 400;\">, qui est un framework de planification de mouvement int\u00e9gr\u00e9 \u00e0 ROS. Moveit vous permet de planifier une trajectoire pour votre robot, en fonction d&rsquo;une repr\u00e9sentation sp\u00e9cifique (format <\/span><a href=\"http:\/\/wiki.ros.org\/urdf\"><span style=\"font-weight: 400;\">URDF<\/span><\/a><span style=\"font-weight: 400;\">).<\/span><\/li>\n<li><a href=\"http:\/\/wiki.ros.org\/rosbridge_suite\"><span style=\"font-weight: 400;\">Rosbridge<\/span><\/a><span style=\"font-weight: 400;\"> : ROS fonctionnant principalement sur des syst\u00e8mes Ubuntu, il peut \u00eatre assez difficile de communiquer entre un syst\u00e8me ROS et un syst\u00e8me non-ROS. Avec rosbridge, c&rsquo;est d\u00e9sormais possible ! Rosbridge va cr\u00e9er un serveur websocket sur votre syst\u00e8me ROS. Avec quelques biblioth\u00e8ques disponibles (java, javascript, &#8230;), vous pouvez connecter une interface web \u00e0 votre robot !<\/span><\/li>\n<li><a href=\"http:\/\/wiki.ros.org\/joy\"><span style=\"font-weight: 400;\">Joy<\/span><\/a><span style=\"font-weight: 400;\">, qui est un package simple pour interfacer un contr\u00f4leur xbox avec un syst\u00e8me ROS.<\/span><\/li>\n<li><span style=\"font-weight: 400;\"> Et bien d&rsquo;autres packages ROS ou Niryo&#8230;<\/span><\/li>\n<\/ul>\n<p><span style=\"font-weight: 400;\">Pour acc\u00e9der au syst\u00e8me ROS sur le Raspberry Pi 3, il suffit d&rsquo;utiliser ssh ou une connexion ethernet ! Vous pourrez \u00e9galement ex\u00e9cuter la pile ROS de Niryo One sur votre ordinateur portable Ubuntu, pour d\u00e9velopper plus rapidement et obtenir une simulation 3D du robot (paquet <\/span><a href=\"http:\/\/wiki.ros.org\/rviz\"><span style=\"font-weight: 400;\">Rviz<\/span><\/a><span style=\"font-weight: 400;\">).<\/span><\/p>\n<h2><strong>Et&#8230; Le code sera open source !<\/strong><\/h2>\n<p><span style=\"font-weight: 400;\">Nous publierons le code Arduino et Raspberry Pi en septembre, apr\u00e8s les premiers envois des r\u00e9compenses de notre campagne <\/span><a href=\"https:\/\/www.kickstarter.com\/projects\/niryo\/niryo-one-an-open-source-6-axis-robotic-arm-just-f?ref=ejg9g6\"><span style=\"font-weight: 400;\">Kickstarter<\/span><\/a><span style=\"font-weight: 400;\">. (Si vous n&rsquo;\u00eates pas encore abonn\u00e9 \u00e0 notre\u00a0 <\/span><a href=\"http:\/\/niryo.com\/newsletter\/\"><span style=\"font-weight: 400;\">newsletter<\/span><\/a><span style=\"font-weight: 400;\">, inscrivez-vous d\u00e8s maintenant pour \u00eatre le premier \u00e0 \u00eatre inform\u00e9 des nouveaut\u00e9s et des offres sp\u00e9ciales).<\/span><\/p>\n<p><span style=\"font-weight: 400;\">Le code sera disponible sur github, avec des efforts pour le rendre tr\u00e8s clair et document\u00e9, afin que vous puissiez apprendre ROS, poser des questions, et contribuer si vous voulez am\u00e9liorer certaines parties ou ajouter de nouvelles fonctionnalit\u00e9s. Nous serons tr\u00e8s ouverts \u00e0 ce sujet, et nous ouvrirons un forum en ligne.<\/span><span style=\"font-weight: 400;\">\u00a0<\/span><\/p>\n<h2><strong>Niryo One et ROS : ce que vous pouvez apprendre<\/strong><\/h2>\n<p><span style=\"font-weight: 400;\">Comme le code sera lisible et document\u00e9, vous aurez l&rsquo;opportunit\u00e9 d&rsquo;apprendre ROS sur un syst\u00e8me physique r\u00e9el. Nous vous fournirons des tutoriels pour comprendre les bases de ROS et apprendre \u00e0 :<\/span><\/p>\n<ul>\n<li><span style=\"font-weight: 400;\"> G\u00e9rer plusieurs packages, n\u0153uds, fichiers de lancement, &#8230;<\/span><\/li>\n<li><span style=\"font-weight: 400;\"> Communiquer entre tous vos n\u0153uds (sujets, services, actions).<\/span><\/li>\n<li><span style=\"font-weight: 400;\"> Utiliser le framework de planification de mouvement Moveit<\/span><\/li>\n<li><span style=\"font-weight: 400;\"> Communiquer avec une carte Arduino via I2C, et laisser le syst\u00e8me ROS la commander.<\/span><\/li>\n<li><span style=\"font-weight: 400;\"> Obtenir des donn\u00e9es \u00e0 partir de capteurs (I2C ou SPI) sur un Raspberry Pi et publier les donn\u00e9es avec des topics ROS.<\/span><\/li>\n<li><span style=\"font-weight: 400;\"> Communiquer avec d&rsquo;autres syst\u00e8mes non ROS via Wi-Fi et Bluetooth<\/span><\/li>\n<\/ul>\n<h2><strong>Conclusion<\/strong><\/h2>\n<p><span style=\"font-weight: 400;\">Nous simplifions les choses pour les d\u00e9butants et les utilisateurs avanc\u00e9s de ROS, en fournissant un vrai robot, un code source ouvert et le soutien de notre \u00e9quipe.<\/span><\/p>\n<p><span style=\"font-weight: 400;\">Mais ce n&rsquo;est pas tout : en septembre, nous publierons \u00e9galement une s\u00e9rie de vid\u00e9os tutorielles sur comment apprendre ROS, y compris des exemples pr\u00eats \u00e0 l&#8217;emploi avec Niryo One. Et nous serons ouverts \u00e0 toute demande de votre part, pour vous aider \u00e0 profiter de l&rsquo;utilisation de Niryo One avec ROS.<\/span><\/p>\n","protected":false},"excerpt":{"rendered":"<p>ROS signifie Robot Operating System (syst\u00e8me d&rsquo;exploitation de robot). Il s&rsquo;agit d&rsquo;un cadre robotique pour les d\u00e9veloppeurs. Si vous l&rsquo;avez d\u00e9j\u00e0 essay\u00e9, vous savez que ROS est assez difficile pour les d\u00e9butants. Il comporte beaucoup de difficult\u00e9s, et la plupart du temps, vous devez apprendre \u00e0 travers un robot virtuel, car les robots industriels sont [&hellip;]<\/p>\n","protected":false},"author":146,"featured_media":6500,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"_acf_changed":false,"content-type":"","footnotes":""},"categories":[83],"tags":[],"class_list":["post-6504","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-niryo-one-2"],"acf":[],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v27.2 - https:\/\/yoast.com\/product\/yoast-seo-wordpress\/ -->\n<title>Niryo One et ROS (syst\u00e8me d&#039;exploitation de robot) - Niryo<\/title>\n<meta name=\"description\" content=\"Ros est un framework robotique pour les d\u00e9veloppeurs. 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