Welcome to CACIC’s documentation!

Who am I?

CACIC is a Pioneer 3-AT, four wheeled robot built by Omron Adept MobileRobots, owned by Computer Science Department at University of Brasilia, BR.

The main documentation is organized into a couple sections:

• Hardware
• Software

Hardware

• Camera
  • Camera Specs
  • Linux Drivers
  • Framegrabber
  • Troublehooting
  • IF YOU ARE TR00 FUCKING HARD
• Laser
  • Laser Specs
  • Driver
  • DC-DC Power Supply
• Sonar
  • Sonar Specs
  • Geometry
  • Sensitivity Adjustment
  • Software
• Motors
  • [Hot] Wheels
  • Odometry
• Computer
  • Computer Specs
  • Connectors
• Batteries
  • Batteries Specs
  • Battery Indicators and Low Voltage Conditions
  • Recharging

Software

• ROS
  • Description of the Robot
  • p2os stack
  • hokuyo_node
  • sonar_viz
  • gscam
  • vcc50i_opencv
  • navigation stack
• p2os
• sonar_viz
• OpenCV
• How To
  • Install ROS
  • Use PTZ Camera
  • Teleoperate the robot
  • Use the Laser
  • See the Sonars
  • Move the Base