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ROS 2 based robot learning platform

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ROSBOT

ROS 2 based robot learning platform.

ROSBOT introductory video

Run main rosbot/ros workspace

  • Add user to usb serial and input groups
    • sudo usermod -a -G input ubuntu
    • sudo usermod -a -G dialout ubuntu
    • sudo usermod -a -G tty ubuntu
  • Build rosbot (on both the robot and the remote PC)
    • cd ~/rosbot/ros to open workspace
    • rosdep install -i --from-path src --rosdistro foxy -y to install dependencies
    • git pull && colcon build to pull changes and build workspace
  • Launch rosbot on the robot
    • First build it if there have been any changes
    • Open new terminal
    • cd ~/rosbot/ros to open workspace
    • . install/local_setup.bash to load workspace overlay (on both robot and remote pc)
    • ros2 launch odrive_bringup rosbot.launch.py to launch rosbot (run on robot)
    • ros2 launch odrive_bringup rviz.launch.py to launch rviz (run on remote pc)
  • Run joystick teleop
    • Open new terminal
    • . install/local_setup.bash to load workspace overlay
    • ros2 launch teleop_twist_joy teleop.launch.py joy_config:='rosbot_xbox_bluetooth' cmd_vel:=/diff_drive_controller/cmd_vel_unstamped to launch joystick teleop
    • Hold down left trigger (button 6) and use left and right joysticks to control speed and rotation
    • Hold down right trigger (button 7) for boost (faster movements)
  • Launch odrive manual control (for testing only)
    • Open new terminal
    • . install/local_setup.bash to load workspace overlay
    • ros2 launch odrive_bringup odrive.launch.py to launch odrive test ()
    • ros2 topic pub -r 100 /left_wheel_joint_velocity_controller/commands std_msgs/Float64MultiArray "data: [1]"
    • ros2 topic pub -r 100 /right_wheel_joint_velocity_controller/commands std_msgs/Float64MultiArray "data: [-1]"
    • ros2 launch teleop_twist_joy teleop.launch.py joy_config:='rosbot_xbox_bluetooth' cmd_vel:=/diff_drive_controller/cmd_vel_unstamped to launch joystick teleop
    • Hold down left trigger (button 6) and use left and right joysticks to control speed and rotation
  • Launch usb xbox joystick teleop that publishes to /cmd_vel
    • ros2 launch teleop_twist_joy teleop.launch.py cmd_vel:=cmd_vel joy_config:=rosbot_xbox_usb

Debugging

  • Debugging
  • ros2 topic echo /joint_states to show joint states including velocity etc
  • ros2 topic echo /dynamic_joint_states to show dynamic joint states including axis error etc
  • ros2 run tf2_tools view_frames.py to generate frames.pdf frame tree
  • rqt to open RQT, add plugins such as Topics > Topic Monitor
  • ros2 run xacro xacro ./src/rosbot_description/urdf/rosbot.urdf.xacro to debug what's wrong with URDF file
  • ros2 run tf2_ros tf2_echo odom base_link to verify transforms from odom to base_link
    • At time 1634580767.596875940
      • Translation: [6.986, -2.328, 0.000]
      • Rotation: in Quaternion [0.000, 0.000, -0.210, 0.978]
    • At time 1634580768.594622939
      • Translation: [7.108, -2.383, 0.000]
      • Rotation: in Quaternion [0.000, 0.000, -0.213, 0.977]

Joystick teleop

  • https://index.ros.org/p/teleop_twist_joy/github-ros2-teleop_twist_joy/
  • https://github.com/ros2/teleop_twist_joy/tree/foxy/
  • http://wiki.ros.org/joy
  • https://github.com/medusalix/xow need xow to use xbox bluetooth controller
  • Configure XOW to use xbox controller over bluetooth
    • sudo apt install cabextract to install dependencies
    • git clone https://github.com/medusalix/xow
    • cd xow
    • make BUILD=RELEASE
    • sudo make install
    • sudo systemctl enable xow
    • sudo systemctl start xow
    • sudo systemctl kill -s SIGUSR1 xow to enable XOW pairing mode (generally not needed)
  • Disable ERTM
    • sudoedit /sys/module/bluetooth/parameters/disable_ertm
    • replace N with Y
    • reboot
  • Restart bluetooth
    • sudo service bluetooth restart
    • sudo rmmod btusb
  • Test controller
    • jstest /dev/input/js0
  • Also disable ERTM permanently
  • Disable internal bluetooth when using dongle
    • sudoedit /boot/firmware/usrcfg.txt
    • add line dtoverlay=disable-bluetooth
    • reboot
    • check with hciconfig -a and hcitool dev
    • does not seem to actually work..
  • Connect to bluetooth xbox controller using terminal (on robot)
  • If the joystick /dev/input/eventX does not have correct permissions then (this does not seem to actually work)
    • sudo apt install input-utils to install lsinput tool
    • sudo lsinput to get list of inputs, note the vendor and product of "Xbox Wireless Controller"
    • sudoedit 80-xbox-controller.rules
    • add KERNEL=="event*", ATTRS{idProduct}=="02e0", ATTRS{idVendor}=="045e", MODE="0666" etc that mathes vendor and product
  • Test joystick from terminal
    • sudo apt install joystick
    • jstest /dev/input/js0
    • ros2 run joy joy_enumerate_devices
  • Test joystick visually
    • sudo apt install jstest-gtk
    • jstest-gtk
  • Test joystick messages
    • ros2 topic echo /joy
    • ros2 topic echo /cmd_vel
    • ros2 topic echo /diff_drive_controller/cmd_vel_unstamped

Setup Gazebo simulator

  • sudo apt install ros-foxy-gazebo-ros-pkgs

Setup Raspberry PI UART

Setup ROS2 Navigation2 Nav2

  • https://navigation.ros.org/getting_started/index.html
  • Install dependencies
    • sudo apt install ros-foxy-navigation2 ros-foxy-nav2-bringup ros-foxy-cartographer ros-foxy-cartographer-ros ros-foxy-robot-localization ros-foxy-slam-toolbox ros-foxy-gazebo-ros-pkgs ros-foxy-xacro ros-foxy-slam-toolbox
    • sudo apt install ros-foxy-turtlebot3* for testing on remote pc only
  • Slam toolbox on the robot
    • Use snap slam-toolbox
    • It has optimizations in it that make it about 10x faster
  • Run mapping and navigation
    • ros2 launch slam_toolbox online_async_launch.py to launch slam toolbox mapper
    • ros2 launch nav2_bringup navigation_launch.py to run navigation2

Run navigation2_tutorials

  • Clone and build https://github.com/ros-planning/navigation2_tutorials.git
  • launch robot ros2 launch sam_bot_description display.launch.py
  • Launch usbteleop
    • Open new terminal
    • cd ~/rosbot/ros
    • . install/local_setup.bash
    • ros2 launch teleop_twist_joy teleop.launch.py cmd_vel:=/demo/cmd_vel joy_config:=rosbot_xbox_usb
    • or without the /demo in modified version
  • Launch slam_toolbox
    • Open new terminal
    • ros2 launch slam_toolbox online_async_launch.py

Setup Arduino

  • Install Arduino IDE
  • Add https://www.adafruit.com/package_adafruit_index.json to Arduino preferences additional boards URLs
  • Install board Adafruit nRF52
  • Install pip3 install --user adafruit-nrfutil
  • Update bootloader
  • Install Micro-XRCE-DDS Agent
    • git clone https://github.com/eProsima/Micro-XRCE-DDS-Agent.git
    • cd Micro-XRCE-DDS-Agent && git checkout foxy
    • mkdir build && cd build
    • source /opt/ros/dashing/setup.bash # to share libraries with ros2
    • cmake ..
    • make
    • sudo make install
    • sudo ldconfig /usr/local/lib/

Update cmake

  • cmake --version
  • sudo apt update
  • sudo apt install -y software-properties-common lsb-release
  • wget -O - https://apt.kitware.com/keys/kitware-archive-latest.asc 2>/dev/null | gpg --dearmor - | sudo tee /etc/apt/trusted.gpg.d/kitware.gpg >/dev/null
  • sudo apt-add-repository "deb https://apt.kitware.com/ubuntu/ $(lsb_release -cs) main"
  • sudo apt update
  • sudo apt install kitware-archive-keyring
  • sudo rm /etc/apt/trusted.gpg.d/kitware.gpg
  • sudo apt update
  • sudo apt install cmake
  • cmake --version

Build micro-ros on MBED

  • https://github.com/micro-ROS/micro_ros_mbed
  • pip3 install catkin_pkg lark-parser empy colcon-common-extensions mbed-tools
  • sudo apt install gcc-arm-none-eabi
  • clone repo and cd into it
  • mbed-tools deploy
  • mbed-tools compile -m LPC1768 -t GCC_ARM -f

Install ROS

Installation guide.

  • Enable universe (probably not needed)
    • sudo apt install software-properties-common
    • sudo add-apt-repository universe
  • Add repository
    • sudo apt update && sudo apt install curl gnupg2 lsb-release
    • sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
  • Add repository to sources list
    • echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
  • Install ROS
    • sudo apt update
    • sudo apt install ros-foxy-desktop
  • Install autocomplete
    • sudo apt install -y python3-argcomplete
  • Add sourcing ROS to bashrc
    • echo "source /opt/ros/foxy/setup.bash" >> ~/.bashrc
  • Add colcom_cd to bashrc
    • echo "source /usr/share/colcon_cd/function/colcon_cd.sh" >> ~/.bashrc
    • echo "export _colcon_cd_root=~/ros2_install" >> ~/.bashrc
  • Check environment variables
    • printenv | grep -i ROS
  • Set domain id (random number between 0-101 inclusive)
    • echo "export ROS_DOMAIN_ID=<your_domain_id>" >> ~/.bashrc
  • Test ROS (open in separate terminals)
    • ros2 run demo_nodes_cpp talker
    • ros2 run demo_nodes_py listener
  • Install ros bag for data recording/playback
    • sudo apt-get install ros-galactic-ros2bag ros-galactic-rosbag2-storage-default-plugins

Install tools

  • Install VSCode
    • sudo snap install --classic code

Install TurtleSim

  • Install
    • sudo apt install ros-foxy-turtlesim
  • Check the package installed
    • ros2 pkg executables turtlesim
  • Start turtlesim
    • ros2 run turtlesim turtlesim_node
  • Start teleop to control the turtle
    • ros2 run turtlesim turtle_teleop_key

Install RQT

  • Install rqt
    • sudo apt update
    • sudo apt install ~nros-foxy-rqt*
  • Run rqt
    • rqt
  • Add service called
    • select Plugins > Services > Service Caller
    • Call /spawn with x=1.0, y=1.0, name='turtle2'
  • Remap control to turtle 2
    • ros2 run turtlesim turtle_teleop_key --ros-args --remap turtle1/cmd_vel:=turtle2/cmd_vel
  • Render rtq graph
    • rqt_graph
    • can also add to rtq by Plugins > Introspection > Nodes Graph

ROS Command line

  • Run node
    • ros2 run turtlesim turtlesim_node
    • ros2 run turtlesim turtle_teleop_key
    • ros2 run turtlesim turtlesim_node --ros-args --log-level WARN to run with custom log level
  • List resources
    • ros2 node list
    • ros2 topic list
    • ros2 topic list -t to also show message types
    • ros2 service list
    • ros2 service list -t to also show service types
    • ros2 action list
    • ros2 param list
  • Get node info
    • ros2 node info /my_turtle
  • Show data published to topic
    • ros2 topic echo /turtle1/cmd_vel to see velocity commands
    • ros2 topic echo /turtle1/pose to see changing pose
  • Get topic info
    • ros2 topic info /turtle1/cmd_vel
  • Show messsage interface
    • ros2 interface show geometry_msgs/msg/Twist
  • Publish message to topic
    • ros2 topic pub <topic_name> <msg_type> '<args>' where args is in YAML syntax
    • ros2 topic pub --once /turtle1/cmd_vel geometry_msgs/msg/Twist "{linear: {x: 2.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 1.8}}" publishes once
    • ros2 topic pub --rate 1 /turtle1/cmd_vel geometry_msgs/msg/Twist "{linear: {x: 2.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 1.8}}" publishes continuosly at 1Hz
  • Show how often data is published to a topic
    • ros2 topic hz /turtle1/pose
  • Get service type info
    • ros2 service type <service_name>
    • ros2 service type /clear
  • Find service by type
    • ros2 service find <type_name>
    • ros2 service find std_srvs/srv/Empty
  • Show service type structure
    • ros2 interface show <type_name>.srv where request and response structure is separated by ---
    • ros2 interface show std_srvs/srv/Empty.srv
    • ros2 interface show turtlesim/srv/TeleportAbsolute.srv
    • ros2 interface show turtlesim/srv/Spawn
  • Call service
    • ros2 service call <service_name> <service_type> <arguments>
    • ros2 service call /clear std_srvs/srv/Empty
    • ros2 service call /spawn turtlesim/srv/Spawn "{x: 2, y: 2, theta: 0.2, name: ''}"
  • Get param list
    • ros2 param list
  • Get param value
    • ros2 param get <node_name> <parameter_name>
    • ros2 param get /turtlesim background_g
  • Set param value
    • ros2 param set <node_name> <parameter_name> <value>
    • ros2 param set /turtlesim background_r 150
  • Dump node parameters
    • ros2 param dump <node_name>
    • ros2 param dump /turtlesim
  • Start node using parameters from dumped file
    • ros2 run <package_name> <executable_name> --ros-args --params-file <file_name>
    • ros2 run turtlesim turtlesim_node --ros-args --params-file ./turtlesim.yaml
  • Get list of node actions
    • ros2 node info /turtlesim
    • ros2 node info /teleop_turtle
  • Get list of all actions
    • ros2 action list
    • ros2 action list -t to also show action types
  • Get action info
    • ros2 action info /turtle1/rotate_absolute
  • Get action interface info
    • ros2 interface show turtlesim/action/RotateAbsolute
  • Call action
    • ros2 action send_goal <action_name> <action_type> <values>
    • ros2 action send_goal /turtle1/rotate_absolute turtlesim/action/RotateAbsolute "{theta: 1.57}"
    • ros2 action send_goal /turtle1/rotate_absolute turtlesim/action/RotateAbsolute "{theta: 3.14}" --feedback to also get feedback
  • Run rqt console
    • ros2 run rqt_console rqt_console
  • Start node
    • ros2 run rqt_console rqt_console
  • Launch launch file
    • ros2 topic pub -r 1 /turtlesim1/turtle1/cmd_vel geometry_msgs/msg/Twist "{linear: {x: 2.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: -1.8}}"
  • Record topic to bag
    • ros2 bag record <topic_name> to record a topic
    • ros2 bag record /turtle1/cmd_vel
    • ros2 bag record -o subset /turtle1/cmd_vel /turtle1/pose top choose filename subset and record multiple topics
  • Get bag info
    • ros2 bag info <bag_file_name>
    • ros2 bag info subset
  • Play back bag recording
    • ros2 bag play <bag_file_name>
    • ros2 bag play subset

Example launch file

Starts two turtlesim nodes with different namespace names and a mimic node that makes the second turtle mimic first one.

from launch import LaunchDescription
from launch_ros.actions import Node

def generate_launch_description():
    return LaunchDescription([
        Node(
            package='turtlesim',
            namespace='turtlesim1',
            executable='turtlesim_node',
            name='sim'
        ),
        Node(
            package='turtlesim',
            namespace='turtlesim2',
            executable='turtlesim_node',
            name='sim'
        ),
        Node(
            package='turtlesim',
            executable='mimic',
            name='mimic',
            remappings=[
                ('/input/pose', '/turtlesim1/turtle1/pose'),
                ('/output/cmd_vel', '/turtlesim2/turtle1/cmd_vel'),
            ]
        )
    ])

TMUX terminal splitter

  • Install
    • sudo apt install tmux
  • Start
    • tmux
  • Split terminal
    • horizonal ctrl+b %
    • vertical ctrl+b "
  • Manage windows
    • create ctrl+b c
    • close exit
    • rename ctrl+b ,
  • Navigate
    • between panels ctrl+b ARROWS
    • between windows ctrl+b N where first N=0, second N=1 etc

Base ros setup

https://docs.ros.org/en/foxy/Installation/Ubuntu-Install-Binary.html#linux-install-binary-install-missing-dependencies

/opt/ros/foxy

  • sudo apt install -y python3-rosdep
  • rosdep update
  • rosdep install --from-paths /opt/ros/foxy/share --ignore-src --rosdistro foxy -y --skip-keys "console_bridge fastcdr fastrtps osrf_testing_tools_cpp poco_vendor rmw_connextdds rti-connext-dds-5.3.1 tinyxml_vendor tinyxml2_vendor urdfdom urdfdom_headers"

Creating workspace

https://docs.ros.org/en/foxy/Tutorials/Workspace/Creating-A-Workspace.html

  • mkdir -p ~/dev_ws/src
  • cd ~/dev_ws/src
  • git clone https://github.com/ros/ros_tutorials.git -b foxy-devel
  • rosdep install -i --from-path src --rosdistro foxy -y
  • colcon build
  • open new terminal to source overlay
  • cd ~/dev_ws

Build package

  • create workspace directory mkdir ros2_ws etc
  • create "src" in this directory
  • copy the library/package into src
  • rosdep install -i --from-path src --rosdistro foxy -y to install dependencies
  • cd back to workspace and run colcon build to build the package

Teleop robot controller

Run experiments/test_odrive_ros2 package

  • cd ~/rosbot/experiments/test_odrive_ros2/
  • ros2 run odrive_ros2 odrive_node
  • ros2 service call /connect_odrive std_srvs/srv/Trigger
  • ros2 service call /request_state odrive_interfaces/srv/AxisState "{axis: 0, state: 8}" (not needed if started in closed loop control)
  • ros2 service call /velocity_cmd odrive_interfaces/srv/VelocityControl "{axis: 0, turns_s: 0.5}"
  • ros2 topic echo /barrery_percentage (typo.. and not sure of the format, returns something like 3.5)
  • ros2 topic echo /joint_state

RVIZ2

Run experiments/test_odrive_ros2_control package

Run ros2_control_demos

  • copy repo https://github.com/ros-controls/ros2_control_demos
  • create workspace folder, move demo repo folders under src
  • cd ros2_control_demos/
  • rosdep install -i --from-path src --rosdistro foxy -y
  • colcon build
  • open new terminal
  • cd ros2_control_demos/
  • . install/local_setup.bash
  • ros2 launch ros2_control_demo_bringup diffbot_system.launch.py start_rviz:=true
  • ros2 control list_hardware_interfaces to list ros control hardware interfaces
  • ros2 control list_controllers to list ros control controllers
  • publish velocity command
ros2 topic pub --rate 30 /diff_drive_controller/cmd_vel_unstamped geometry_msgs/msg/Twist "linear:
 x: 0.7
 y: 0.0
 z: 0.0
angular:
 x: 0.0
 y: 0.0
 z: 1.0"
  • control with mouse_teleop, remapping /mouse_vel to /diff_drive_controller/cmd_vel_unstamped
  • ros2 run mouse_teleop mouse_teleop --ros-args -r /mouse_vel:=/diff_drive_controller/cmd_vel_unstamped

Open VSCode from Ubuntu explorer context menu

  • Run the following in terminal
  • wget -qO- https://raw.githubusercontent.com/cra0zy/code-nautilus/master/install.sh | bash

Configure ssh

  • ssh-keygen -t rsa to create ssh key in ~/.ssh if not already present
  • cat ~/.ssh/id_rsa.pub to get public key from computer that wants to access robot
  • add the public key to robot's ~/.ssh/authorized_keys file
  • create ~/.ssh/config file on the remote computer with contents like
Host rosbot
    HostName rosbot
    User ubuntu
  • ssh rosbot to open ssh connection to robot using the configuration and ssh key

Create package

cd ~/dev_ws/src ros2 pkg create --build-type ament_cmake <package_name> ros2 pkg create --build-type ament_cmake --node-name my_node my_package ros2 pkg create --build-type ament_cmake --node-name talker test_chat

Develop C++

https://github.com/ros2/rclcpp http://docs.ros2.org/latest/api/rclcpp/ http://wiki.ros.org/std_msgs

Develop nodejs

https://github.com/RobotWebTools/rclnodejs https://github.com/RobotWebTools/rclnodejs-cli http://robotwebtools.org/rclnodejs/docs/0.20.0/index.html https://github.com/RobotWebTools/rclnodejs/tree/develop/example npx generate-ros-messages

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