DeepGuider Cart for ROS

DeepGuider Cart for ROS (shortly dg_cart_ros) is a mobile platform for DeepGuider project to acquire datasets and test algorithms integrated with sensors.

Mobile and Computing Platforms

• Mobile platform: CareLine Nadri 500
  • Maximum velocity: 15 km/hr (~ 4.2 m/s)
  • Maximum climbing angle: 10 deg
  • Battery capacity: 64 AH (mileage: 35 km)
• Computing board: Gigabyte Aero 15 OLED XA
  • CPU: Intel Core i7-9750H
  • GPU: NVIDIA GeForce RTX 2070 Max-Q

Sensor Specifications (and Their ROS Nodes)

• UVC camera: Logitech C930e (uvc_camera)
  • 1920x1080 / 30 fps / FOV: 90 deg
• RGB-D camera: Intel RealSense D435i (realsense2_camera)
  • RGB: 1920x1080 / 30 fps / FOV (HxV): 69.4x42.5 deg
  • Depth: 1280x720 / 90 fps / FOV (HxV): 87x58 deg
  • IMU: 3 DoF accleration ($\pm$4 g), 3 DoF gyroscope ($\pm$1000 deg/s)
• Spherical camera (UVC camera): Ricoh Theta S
• IMU/AHRS: Xsens MTi-30 (xsens_driver)
  • Gyro bias stability: 18 deg/hr
  • Roll/Pitch accuracy: Static 0.2 deg, dynamic 0.5 deg
  • Yaw accuracy: 1.0 deg
• GPS receiver: Ascen Korea GPS620 (nmea_navsat_driver)
  • Accuracy (Position Single Point L1): 3.0 m
  • Frequency: 1 Hz
  • TTFF (hot/cold): 1/35 sec
• RTK-GPS receiver: Novatel PwrPak7 + OEM7700 + GNSS-802 (novatel_oem7_driver)
  • Accuracy (Position Single Point L1): 1.5 m
  • Accuracy (DGPS/RTK): 40/1 cm

Installation

Prerequisite

• ROS Melodic Morenia (Installation Instructions)
  • Tested on Ubuntu 18.04 LTS

Installing ROS Nodes

• sudo apt install ros-melodic-uvc-camera ros-melodic-realsense2-camera ros-melodic-xsens-driver ros-melodic-nmea-navsat-driver ros-melodic-novatel-oem7-driver ros-melodic-rosserial-arduino

Making a ROS workspace

If you don't have a ROS workspace, please make it as the following. You can change its name dg_ws to your desired.

• mkdir -p dg_ws/src && cd dg_ws && catkin_make

If you can run the following to add dg_ws to ROS_PACKAGE_PATH.

• echo "source ~/dg_ws/install/setup.bash" >> ~/.bashrc

Or you need to run source ~/dg_ws/install/setup.bash every time when you open a terminal.

Installing dg_cart_ros

1. Clone dg_cart_ros repository
   • cd dg_ws
   • git clone https://github.com/deepguider/dg_cart_ros.git src/dg_cart_ros
2. Build and install dg_cart_ros
   • catkin_make install
3. Add udev rules for accessing and mounting sensor devices
   • sudo cp src/dg_cart_ros/udev.rules /etc/udev/rules.d/99-dg-device.rules

User Guides

Running and Visualizing Sensor Data

• Running sensor nodes
  • roslaunch dg_cart_ros dg_run_sensor.launch
• Running and visualizing sensor data
  • roslaunch dg_cart_ros dg_show_sensor.launch
• Running, visualizing, and recording sensor data
  • roslaunch dg_cart_ros dg_record_sensor.launch
  • Add bag_path:=/your/target/path/ to specify a path to save a bag file (default: your HOME directory)

Running the DeepGuider Main Module

• roslaunch dg_cart_ros dg_main_module.launch

Running a Single Sensor Node

Sometimes you want to operate a single sensor without dg_cart_ros. The following single-line commands will run a ROS node for each sensor. (Please be aware of running roscore before rosrun commands.)

• UVC camera (uvc_camera)
  • rosrun uvc_camera uvc_camera_node
  • Add _device:="/dev/videoLGT0" to specify a camera device
• RGB-D camera (realsense2_camera)
  • roslaunch realsense2_camera rs_camera.launch
  • Add serial_no:="000000000000" to specify a camera device
• IMU/AHRS (xsens_driver)
  • roslaunch xsens_driver xsens_driver.launch
  • Add device:="/dev/ttyIMU0" to specify a serial port
• GPS receiver (nmea_navsat_driver)
  • roslaunch nmea_navsat_driver nmea_serial_driver.launch
  • Add port:="/dev/ttyGPS0" baud:="9600" to specify its serial port
• RTK-GPS receiver (novatel_oem7_driver)
  • roslaunch novatel_oem7_driver oem7_tty.launch
  • Add oem7_tty_name:="/dev/ttyNVT0" oem7_tty_baud:="9600" to specify a serial port

License

Please refer DeepGuider Project LSA.

Acknowledgement

The authors thank the following contributors and projects.

• This work was supported by the ICT R&D program of MSIT/IITP, Development of AI Technology for Guidance of a Mobile Robot to its Goal with Uncertain Maps in Indoor/Outdoor Environments (2019-0-01309).