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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
  1. 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