My bot package

Project based on Articulated Robotics youtube channel

My bot

Simulation

Installation for simulation:

    sudo apt-get install ros-humble-gazebo-ros-pkgs ros-humble-navigation2 ros-humble-nav2-bringup ros-humble-twist-mux ros-humble-ros2-control ros-humble-ros2-controllers ros-humble-gazebo-ros2-control ros-humble-slam-toolbox ros-humble-xacro
    cd ~/your_ws/src
    git clone (this repo)
    git clone https://github.com/AdrianCobo/Pal_Gazebo_Worlds.git
    colcon build --symlink-install
    copy the gazebo models at the models folder to your gazebo models folder

Simulation Launch examples:

Gazebo Simulation and joystick control:

    ros2 launch my_bot launch_real_sim.launch.py

You can see the video demonstration here: (Youtube)

Gazebo Simulation and keyboard control:

1. change world_name at config/map_params.yaml

    ros2 launch my_bot launch_real_sim.launch.py
    ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -p use_sim_time:=true

You can see the video demonstration here: (Youtube)

Gazebo Simulation and Mapping

    ros2 launch my_bot launch_real_sim.launch.py
    cd ~/your_ws
    ros2 launch slam_toolbox online_async_launch.py slam_params_file:=./src/my_bot/config/mapper_params_online_async.yaml use_sim_time:=true
    cd ~/your_ws
    rviz2 -d src/my_bot/robot_view.rviz
    ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -p use_sim_time:=true

You can see the video demonstration here: (Youtube)

Gazebo Simulation and nav2 localization

    ros2 launch my_bot launch_real_sim.launch.py
    cd ~/your_ws
    rviz2 -d src/my_bot/robot_view.rviz
    cd ~/your_ws
    ros2 launch nav2_bringup localization_launch.py map:=./src/my_bot/maps/home.yaml use_sim_time:=true
    # publish a 2D point using rviz at your robot map position
    ros2 launch nav2_bringup navigation_launch.py use_sim_time:=true map_subscribe_transient_local:=true

You can see the video demonstration here: (Youtube)

Real Robot

Real Robot Connection Diagram

Real Robot Installation

sudo apt-get install ros-humble-gazebo-ros-pkgs ros-humble-navigation2 ros-humble-nav2-bringup ros-humble-twist-mux ros-humble-ros2-control ros-humble-ros2-controllers ros-humble-gazebo-ros2-control ros-humble-slam-toolbox ros-humble-xacro
cd ~/your_ws/src
git clone (this repo)
git clone https://github.com/AdrianCobo/ros_arduino_bridge
git clone https://github.com/AdrianCobo/diffdrive_arduino.git
git clone https://github.com/AdrianCobo/serial
cd diffdrive_arduino 
git checkout 3883c00
cd ..
cd my_bot/description
do the necesary changes at ros2_control.xacro at the params sectrion in order to use your own motors and your arduino device
colcon build --symlink-install

Real Robot controled by a joystick:

At the raspberry run:

    ros2 launch my_bot launch_robot.launch.py

And at the pc that the joystick is connected run:

    ros2 launch my_bot joystick.launch.py

You can see the video demonstration here: (Youtube)

Real Robot controled by a keyboard:

At the raspberry run:

    ros2 launch my_bot launch_robot.launch.py

And at the pc that the keyboard is connected run:

    ros2 run teleop_twist_keyboard teleop_twist_keyboard

Using the Real robot Camera:

At the raspberry run:

    ros2 launch my_bot camera.launch.py

Wherever you want to see the image run:

    ros2 run rqt_image_view rqt_image_view

Using the Real robot lidar:

At the raspberry run:

    ros2 launch my_bot rplidar.launch.py

Wherever you want to see the pointClouds run:

    rviz2

and:

1. Change the fixed frame parameter to 'laser_frame'
2. go to: add -> by topic -> /scan

Mapping with the real robot:

At the raspberry run:

    ros2 launch my_bot launch_robot.launch.py
    ros2 launch my_bot rplidar.launch.py

If you want to see images from the camera go to the section: "Using the Real robot Camera"

Wherever you want to see the map construction, execute:

    rviz2
    cd $(your_ws)
    ros2 launch slam_toolbox online_async_launch.py slam_params_file:=./src/my_bot/config/mapper_params_online_async.yaml use_sim_time:=false

At rviz:

1. Change the fixed frame parameter to 'map'
2. go to: add -> by topic -> /map

You can see the video demonstration here: (Youtube)

Nav2 localization with the real robot:

    ros2 launch my_bot launch_real_sim.launch.py
    cd ~/your_ws
    rviz2 -d src/my_bot/robot_view.rviz
    cd ~/your_ws
    ros2 launch nav2_bringup localization_launch.py map:=./src/my_bot/maps/home.yaml use_sim_time:=true
    # publish a 2D point using rviz at your robot map position
    ros2 launch nav2_bringup navigation_launch.py use_sim_time:=true map_subscribe_transient_local:=true

You can see the video demonstration here: available soon

Using plansys2 with the real robot:

available soon

Real Robot Bill:

Bill