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Setup instructions and docker files for Dingo.

Dingo Setup

Install Dependencies:

• Docker: https://docs.docker.com/engine/install/ubuntu/
• docker-compose: https://docs.docker.com/compose/install/
• vcs: http://wiki.ros.org/vcstool

I prefer sudo apt install python3-vcstool using the ROS repositories

First Time Instructions

1. Setup Workspace and Clone dingo_setup

    $ mkdir -p ~/ros2/dingo_ws/src
    $ cd ~/ros2/dingo_ws
    $ git clone git@github.com:RIF-Robotics/dingo_setup.git
   

2. Clone Repositories

   $ cd ~/ros2/dingo_ws/dingo_setup
   $ vcs import ../src < dingo.repos
   

   NOTE: Regularly execute the following to keep the repositories up to date:

   $ vcs pull ../src
   

3. Build Docker development environment

    $ cd ~/ros2/dingo_ws/dingo_setup
    $ docker-compose build
   

Use Docker Development Environment

Start Docker development environment and enter:

$ cd ~/ros2/dingo_ws/dingo_setup
$ docker-compose up -d dev-nvidia
$ docker exec -it dingo_galactic_nvidia /bin/bash

NOTE: You can open as many terminals as needed with the last command. Each command will drop you inside the same container.

Stop Docker container

$ cd ~/ros2/dingo_ws/dingo_setup
$ docker-compose stop

Remove container (will remove any of your changes in the Docker container, so don't do this unless you want to start fresh):

$ cd ~/ros2/dingo_ws/dingo_setup
$ docker-compose down

Dingo in Simulation (with a pre-built map)

1. Start Gazebo:

    $ ros2 launch dingo_gazebo empty_world.launch.py
   

2. Start the Nav2 stack:

    $ ros2 launch dingo_navigation nav2.launch.py
   

3. Start Rviz:

    $ ros2 launch dingo_navigation rviz.launch.py
   

AMCL requires an initial 2D pose estimate. In rviz, click on the "2D Pose Estimate" button and click and drag on the rviz map to approximate the 2D pose of the actual robot in Gazebo.

You can now send navigation goals to the robot by clicking on the "Nav2 Goal" button in rviz and clicking on the map.

Dingo in Simulation (build a new map)

1. Make sure the source code is built

    $ cd ~/workspace
    $ colcon build
   

2. Start Gazebo:

    $ ros2 launch dingo_gazebo empty_world.launch.py
   

3. Start the Nav2 stack with the slam toolbox enabled:

    $ ros2 launch dingo_navigation nav2.launch.py build_map:=True
   

4. Start Rviz:

    $ ros2 launch dingo_navigation rviz.launch.py
   

You now need to move the robot around the space to build the map. You can use the "Nav2 Goal" button in rviz to drop goal poses or you can manually teleoperate the robot with the keyboard.

4. Teleoperate the robot with the keyboard

    $ ros2 run teleop_twist_keyboard teleop_twist_keyboard
   

5. Save the new map

After the map has been adequately explored, you can save the map with the command:

$ ros2 service call /map_saver/save_map nav2_msgs/srv/SaveMap

This command sends a request to the map saver node to save the map to the ROS workspace.