ilab_agilex

ROS2 workspace for Agilex robots setup @ Innovlab

Getting Started

Required setup : Ubuntu 22.04 LTS

1. Install ros2 packages. The current development is based of ros2 humble. Installation steps are described here.
2. Source your ros2 environment:

   source /opt/ros/humble/setup.bash

   NOTE: The ros2 environment needs to be sources in every used terminal. If only one distribution of ros2 is used, it can be added to the ~/.bashrc file.
3. Install colcon and its extensions :

   sudo apt install python3-colcon-common-extensions

4. Create a new ros2 workspace:

   mkdir ~/ros2_ws/src

5. Install libasio

   $ sudo apt-get install libasio-dev

6. Pull relevant packages, install dependencies, compile, and source the workspace by using:

   cd ~/ros2_ws
   git clone https://github.com/maberobotics/ilab_agilex.git src/ilab_agilex
   rosdep install --ignore-src --from-paths . -y -r
   colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --symlink-install
   source install/setup.bash

Basic usage for tracer robot

1. Setup CAN-To-USB adapter

• Enable gs_usb kernel module(If you have already added this module, you do not need to add it)

  $ sudo modprobe gs_usb
  

• Bringup can device

  $ sudo ip link set can0 up type can bitrate 500000
  
  

• Testing command

  # receiving data from can0
  $ candump can0
  

3. Launch ROS nodes

• Start the base node for the Tracer robot

  $ ros2 launch tracer_base tracer_base.launch.py
  

• Then you can send command to the robot

  $ ros2 topic pub /cmd_vel geometry_msgs/msg/Twist "linear:
  x: 0.0
  y: 0.0
  z: 0.0
  angular:
  x: 0.0
  y: 0.0
  z: 0.0" 
  
  

SAFETY PRECAUSION:

Always have your remote controller ready to take over the control whenever necessary.

Navigation stack

To start lidar run

$ ros2 launch tracer_bringup open_rslidar.launch.py

Note: To get data from the lidar, the IP of the PC connected to the lidar needs to be 192.168.1.102

To start cartographer run

$ ros2 launch tracer_bringup cartographer.launch.py

The map can then be saved using

$ ros2 run nav2_map_server map_saver_cli -f map

To start navigation run

$ ros2 launch tracer_bringup navigation.launch.py