ROS2 package with a Python implementation of the adapter for a Turtlebot 3. It contains the following directories:
- config: provides a connector_tb3.yaml file to configure the MQTT bridge, controller and adapter parameters.
- launch: provides two
.launch.pyfiles, one for running thetb3_adapternode alone and the other to run the whole connector (mqtt_bridgeandcontrollernodes from thevda5050_connectorpackage, as well as thetb3_adapternode).
To test the TB3 adapter sample, follow these steps:
-
Execute the simulation environment (see docker environment).
-
Inside the development container:
# Build workspace packages colcon build && source install/setup.bash # Set gazebo simulated `tb3` initial pose ros2 topic pub -1 --qos-reliability reliable /initialpose geometry_msgs/PoseWithCovarianceStamped \ "{header: {frame_id: map}, pose: {pose: {position: {x: -2.1, y: -0.5, z: 0.0}, orientation: {x: 0.0, y: 0.0, z: 0, w: 1.0000000}}, covariance: [0.25, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.25, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.06853891945200942]}}" # Launch the TB3 VDA5050 connector ros2 launch vda5050_tb3_adapter connector_tb3.launch.py
-
Attach a new terminal to the development container by running
docker compose exec development bashinside thedocker/deployment/folder (see docker environment). Send any of the following samples.4 nodes order
mosquitto_pub -h mosquitto -p 1883 -t uagv/v1/OSRF/TB3_1/order -m ' { "orderId": "'$(cat /proc/sys/kernel/random/uuid)'", "orderUpdateId": 0, "version": "2.0.0", "manufacturer": "OSRF", "serialNumber": "TB3_1", "nodes": [ { "nodeId": "node1", "released": true, "sequenceId": 0, "nodePosition": { "x": 2.0, "y": 0.95, "theta": -0.66, "mapId": "map" }, "actions": [] }, { "nodeId": "node2", "released": true, "sequenceId": 2, "nodePosition": { "x": 1.18, "y": -1.76, "theta": 0.0, "mapId": "map" }, "actions": [] }, { "nodeId": "node3", "released": true, "sequenceId": 4, "nodePosition": { "x": -0.38, "y": 1.89, "theta": 0.0, "mapId": "map" }, "actions": [] }, { "nodeId": "node4", "released": true, "sequenceId": 6, "nodePosition": { "x": -0.17, "y": 1.74, "theta": -2.6, "mapId": "map" }, "actions": [] }, { "nodeId": "node1", "released": true, "sequenceId": 8, "nodePosition": { "x": 2.0, "y": 0.95, "theta": -0.66, "mapId": "map" }, "actions": [] } ], "edges": [ { "edgeId": "edge1", "released": true, "sequenceId": 1, "startNodeId": "node1", "endNodeId": "node2", "actions": [] }, { "edgeId": "edge2", "released": true, "sequenceId": 3, "startNodeId": "node2", "endNodeId": "node3", "actions": [] }, { "edgeId": "edge3", "released": true, "sequenceId": 5, "startNodeId": "node3", "endNodeId": "node4", "actions": [] }, { "edgeId": "edge4", "released": true, "sequenceId": 7, "startNodeId": "node4", "endNodeId": "node1", "actions": [] } ] }'
4 nodes order with actions
mosquitto_pub -h mosquitto -p 1883 -t uagv/v1/OSRF/TB3_1/order -m ' { "orderId": "'$(cat /proc/sys/kernel/random/uuid)'", "orderUpdateId": 0, "version": "2.0.0", "manufacturer": "OSRF", "serialNumber": "TB3_1", "nodes": [ { "nodeId": "node1", "released": true, "sequenceId": 0, "nodePosition": { "x": 2.0, "y": 0.95, "theta": -0.66, "mapId": "map" }, "actions": [] }, { "nodeId": "node2", "released": true, "sequenceId": 2, "nodePosition": { "x": 1.18, "y": -1.76, "theta": 0.0, "mapId": "map" }, "actions": [ { "actionType": "beep", "actionId": "'$(cat /proc/sys/kernel/random/uuid)'", "actionDescription": "Make a beep noise on node", "blockingType": "NONE", "actionParameters": [] } ] }, { "nodeId": "node3", "released": true, "sequenceId": 4, "nodePosition": { "x": -0.38, "y": 1.89, "theta": 0.0, "mapId": "map" }, "actions": [ { "actionType": "beep", "actionId": "'$(cat /proc/sys/kernel/random/uuid)'", "actionDescription": "Make a beep noise on node", "blockingType": "NONE", "actionParameters": [] } ] }, { "nodeId": "node4", "released": true, "sequenceId": 6, "nodePosition": { "x": -0.17, "y": 1.74, "theta": -2.6, "mapId": "map" }, "actions": [ { "actionType": "beep", "actionId": "'$(cat /proc/sys/kernel/random/uuid)'", "actionDescription": "Make a beep noise on node", "blockingType": "NONE", "actionParameters": [] } ] }, { "nodeId": "node1", "released": true, "sequenceId": 8, "nodePosition": { "x": 2.0, "y": 0.95, "theta": -0.66, "mapId": "map" }, "actions": [ { "actionType": "beep", "actionId": "'$(cat /proc/sys/kernel/random/uuid)'", "actionDescription": "Make a beep noise on node", "blockingType": "NONE", "actionParameters": [] } ] } ], "edges": [ { "edgeId": "edge1", "released": true, "sequenceId": 1, "startNodeId": "node1", "endNodeId": "node2", "actions": [] }, { "edgeId": "edge2", "released": true, "sequenceId": 3, "startNodeId": "node2", "endNodeId": "node3", "actions": [] }, { "edgeId": "edge3", "released": true, "sequenceId": 5, "startNodeId": "node3", "endNodeId": "node4", "actions": [] }, { "edgeId": "edge4", "released": true, "sequenceId": 7, "startNodeId": "node4", "endNodeId": "node1", "actions": [] } ] }'
Init position instant action
mosquitto_pub -h mosquitto -p 1883 -t uagv/v1/OSRF/TB3_1/instantActions -m ' { "version": "2.0.0", "manufacturer": "OSRF", "serialNumber": "TB3_1", "actions": [ { "actionType": "initPosition", "actionId": "'$(cat /proc/sys/kernel/random/uuid)'", "blockingType": "NONE", "actionParameters": [ { "key": "x", "value": "2.0" }, { "key": "y", "value": "-0.5" }, { "key": "theta", "value": "0.0" }, { "key": "mapId", "value": "map" } ] } ] }'