Wolf-Bot

Set of scripts and instructions to setup and use Wolf Robot from VEEROBOT

Joystick Mode

• Press PS key to turn on remote
• Wait for the indicator LED's to stop blinking. Once a single LED is on, it means robot binding to joystick is done
• Use select key to change mode from Normal, Mecanum, Autonomous mode. The last LED indicates settings mode.
• Settings mode is only required for first connection. See Wolf user manual to understand settings.
• Max speed is limited to 1 meters / second. Use the left buttons to control maximum speed of the robot
• Joystick control and ROS control is mutually exclusive. ROS Commands has priority over Joystick commands.

ROS Mode

Install Ubuntu

• Install Ubuntu from Ubuntu Website. Depending on the platform, you may select the version
• For Wolf, select Ubuntu 20.04.x LTS (Focal Fossa) version
• Follow the instructions on the page https://github.com/VEEROBOT/ROS-tools to install ROS Noetic on Ubuntu Platform.
  Once installed, test basic scripts mentioned there to test if ROS is installed and working correctly.

Optional / Not Required - Install Arduino sofware on Ubuntu Focal for ROS.

• Download and Install Arduino from this link
  
• Extract and go to directory
  

sudo chmod +x install.sh
sudo ./install.sh

Install ESP32 for Arduino. Wolf uses ESP32 as the base controller. In Preferences, add:

https://raw.githubusercontent.com/espressif/arduino-esp32/gh-pages/package_esp32_index.json

• Install ESP32 packages from Arduino IDE -> Tools -> Board -> Board Manager -> ESP32
• Install the the latest version of ESP32 libraries
• Install ROS Library for Arduino IDE

cd <sketchbook>/libraries/		# as shown under preferences
cd /libraries
rm -rf ros_lib
source ~/catkin_ws/devel/setup.bash
rosrun rosserial_arduino make_libraries.py .

Install ROS Serial libraries for Arduino

sudo apt-get install ros-noetic-rosserial-arduino
sudo apt-get install ros-noetic-rosserial
# sudo apt-get install ros-noetic-rosserial-python  # For serial wired connection

cd catkin_ws/src/   #Goto catkin workspace installed from the script
git clone https://github.com/ros-drivers/rosserial.git
cd ..
catkin_make --only-pkg-with-deps rosserial
catkin_make install

Running basic Scripts from ROS Command Prompt

• Start ROS Master by typing roscore
• View the list of ros nodes rosnode list
• View the list of ros topics rostopic list
• View information on specific topic rostopic info <topicname>
• View published data on specific topic rostopic echo <topicname>
• Find any specific file on Ubuntu sudo find . -name <filename>

Running Wolf Commands from ROS Command Prompt by sending command velocity (cmd_vel)

• Start ROS Master by typing roscore
• Type rosrun rosserial_python serial_node.py tcp to connect to Wolf
• cmd_vel is limited to -0.5 to +0.5. This means the max velocity of robot is 0.5 meters / second.
• To open teleop twist keyboard (if installed): rosrun teleop_twist_keyboard teleop_twist_keyboard.py
• Too see any error messages or information from Wolf rqt_console
• Latching Command to run Wolf. Copy Paste does not work. Type till "linear, press tab. Now use left and right arrow keys to edit parameters. -r is the number of commands sent to Wolf. -r10 is send the below command at 10Hz. Only use Linear x and Angular z for normal drive. For mecanum, use Linear x, Linear y and Angular z.

rostopic pub /cmd_vel geometry_msgs/Twist "linear:
	x: 0.25												
	y: 0.0
	z: 0.0
angular:
	x: 0.0
	y: 0.0
	z: 0.25" - r10	

• Single Velocity Command:

rostopic pub /cmd_vel geometry_msgs/Twist "{ linear: {x: 0.5} }" -r 3
rostopic pub /cmd_vel geometry_msgs/Twist "{ angular: {z: 0.5} }" -r 5

• Send cmd_vel to Wolf using a graphical interface : rosrun rqt_robot_steering rqt_robot_steering

Toggle Commands from ROS Command Prompt

• Pin 5 is connected to a buzzer and below command can be used to toggle the status of buzzer pin

rostopic pub toggle_buzzer std_msgs/Empty

Updating Firmware

• Wolf has a wired serial connection that can be used to upgrade the base controller firmware.
• --- Will be updated soon ----