- update documentation: add "How to run suricate robot" tutorial

- fix PID controller interface: Now it uses wrench command - add default rviz config for testing real robot
francisc0garcia · Apr 15, 2017 · 6f1957b · 6f1957b
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diff --git a/docs/source/description.rst b/docs/source/description.rst
@@ -8,6 +8,7 @@ Source code was written in Python and C++
 Integrate external libraries such as OpenCV, NodeJS and MongoDB.
 
 - Main task distribution:
+
 .. image:: media/suricate_hardware_tasks.png
 
 - Electronics:
@@ -17,11 +18,13 @@ The following figure shows how components are connected and which protocols were
 .. image:: media/suricate_electronics.png
 
 - ROS nodes:
+
 The following figure shows the ROS nodes which were developed for this project and which device execute each of them.
 
 .. image:: media/suricate_nodes.png
 
 - PID controller:
+
 The following figure shows a basic structure that represent the controller that we have developed.
 
 .. image:: media/dina_pwm1.png
diff --git a/docs/source/media/IMU_checking.png b/docs/source/media/IMU_checking.png
diff --git a/docs/source/media/RVIZ_working.png b/docs/source/media/RVIZ_working.png
diff --git a/docs/source/media/web_interface_working.png b/docs/source/media/web_interface_working.png
diff --git a/docs/source/questions.rst b/docs/source/questions.rst
@@ -18,7 +18,10 @@ then you can compile using GCC 5.
 ROS related problems
 ^^^^^^^^^^^^^^^^^^^^
 
-under development...
+* When I relaunch Raspberry PI2 nodes, sad face is showed by LED matrix.
+
+Answer: sometimes, when you relaunch nodes, an instance of PIGPIO remain active and generate conflicts, you can stop
+nodes and wait for couple of minutes before everything is closed by ubuntu, and then start again ros nodes.
 
 Interface problems
 ^^^^^^^^^^^^^^^^^^
@@ -42,6 +45,17 @@ Answer: You can use pigpio scope [http://abyz.co.uk/rpi/pigpio/piscope.html], in
     export PIGPIO_ADDR=IP_OF_RASPBERRY
     piscope
 
+* I get error: initInitialise: bind to port 8888 failed (Address already in use)
+
+Answer: This is caused by PIGPIO's daemon, you can stop all ros process, and kill its process using
+
+.. code-block:: none
+
+    sudo killall -9 pigpiod
+    sudo rm /var/run/pigpio.pid
+
+then wait some seconds before it is closed by ubuntu. After thath, you should be able to execute normally.
+
 
 Other questions
 ^^^^^^^^^^^^^^^
@@ -56,6 +70,12 @@ terminal windows and run:
     watch -n 5 free -m
     htop
 
+* How can I change router configuration?
+
+Answer: You can connect to router, and open a web browser. Type **http://tplinklogin.net**, credentials are:
+user **admin** and password **admin**.
+
+You can, for instance, change static IP address assigned to RPI2, ODROID or PC (*DHCP/Address Reservation*). As well as checking if all devices are properly connected (*DHCP/DHCP Client List*)
 
 
 

diff --git a/docs/source/tutorials.rst b/docs/source/tutorials.rst
@@ -4,33 +4,109 @@ Suricate robot tutorials
 This section explain some examples of how to use the gazebo simulation and ROS in order to play
 with the suricate robot and develop some extensions.
 
-Getting started
-^^^^^^^^^^^^^^^
+Initial considerations
+^^^^^^^^^^^^^^^^^^^^^^
 
-* Use a LQR controller in order to stabilize the robot:
+- Credentials for Raspberri PI 2: user **ubuntu** - Password **ubuntu**
+
+- Credentials for ODROID: user **odroid** - Password **odroid**
+
+- Suricate robot is pre-configured for connecting to WiFi network **suricate** and password **suricate2015**, router should assign automatically static IP address
+
+Raspberry PI2- *192.168.0.201*
+
+ODROID - *192.168.0.203*
+
+PC - *192.168.0.105*
+
+this is important for following steps.
+
+- If you want to change WiFi network configuration on Raspberry or ODROID, please modify config file (you can connect MicroSD on external PC with linux):
+
+.. code-block:: none
+
+    sudo nano /etc/network/interfaces
+
+
+- You can change I2C and SPI parameters modifying file:
+
+.. code-block:: none
+
+    sudo nano /boot/config.txt
+
+
+How to start suricate robot
+^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+To run suricate robot, you need a working ROS project (explained on installation section).
+Once it is working, you can execute the following steps:
+
+1. Turn on robot and wait for WiFi connection (default network **suricate** and static IP **192.168.0.201**).
+
+2. By default, ODROID is configured to act as ROS Master using static IP *192.168.0.203*, and it will start automatically as soon
+as you power it on.
+
+3. Use console to connect using SSH to raspberry PI2 (example: ssh user@IP_address):
 
 .. code-block:: none
 
-    cd ~/catkin_ws
+    ssh ubuntu@192.168.0.201
+
+
+4. Start ROS nodes on RPI2 using the following commands:
+
+.. code-block:: none
+
+    cd ~/Documents/code/suricate_micro/
+    source devel/setup.bash
+    export ROS_IP=192.168.0.201
+    export ROS_MASTER_URI=http://192.168.0.203:11311
+    roslaunch robot_starter robot_starter.launch
+
+By default, robot uses LQR controller that will start automatically, meaning that robot will stand up as soon as you execute robot_starter.launch,
+you might also try PID controlled that requires an initial velocity command given by **/robot/cmd_vel** (usually provided if you connect a gamepad).
+
+5. Now, if everything is correct, LED matrix should show a happy face. If does not do it, please check Frequent Questions section.
+
+6. Open a new console and start PC ROS nodes for visualization and control, using following commands:
+
+.. code-block:: none
+
+    cd ~/catkin_ws/
     source devel/setup.bash
-    roslaunch suricate_robot PC_launcher_simulation.launch
+    export ROS_IP=192.168.0.105
+    export ROS_MASTER_URI=http://192.168.0.203:11311
+    roslaunch suricate_robot PC_launcher.launch
+
+Recommendations:
+
+It is possible that your ROS project is place on different location.
+
+Connect a gamepad before running this nodes, if you want to control robot with it.
 
+7. Previous command will open a RQT instance (graphical interface), you can check robot state by clicking tab "Topic monitor", and select a topic, for instance **/robot/imu**.
+If Hz shows something between 80 to 130 HZ IMU is properly sensed and robot work OK.
 
-Modify robot controller
-^^^^^^^^^^^^^^^^^^^^^^^
+.. image:: media/IMU_checking.png
+
+You should also get a RVIZ 3D graph, which, as soon as you move the robot, shows a computed position and pose.
+
+.. image:: media/RVIZ_working.png
+
+8. It is also possible to use web interface, please open a web browser (tested on Google Chrome and Opera) and write this address:
+
+.. code-block:: none
 
-under development...
+    http://192.168.0.203:3000
 
+you must create a new user with password in order to get access to robot interface
 
-Define your own controller
-^^^^^^^^^^^^^^^^^^^^^^^^^^
+.. image:: media/web_interface_working.png
 
-under development...
+It is possible to check camera image, battery status and 3D computed pose.
+If you use PID controller (select on raspberry_init.launch), you can also control robot using arrows on display.
 
 
-Extend the project and add new features
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-under development...
 
 
diff --git a/launch/PC_launcher.launch b/launch/PC_launcher.launch
@@ -4,17 +4,6 @@
     <node name="custom_rqt_perspective" pkg="rqt_gui" type="rqt_gui"
           args="--perspective-file  $(find suricate_robot)/simulation/robot_micro.perspective" required="false" />
 
-    <!--
-    <node name="rviz" pkg="rviz" type="rviz" args="-d $(find robot_micro)/simulation/rviz_config.rviz" required="false" />
-    -->
-
-    <!--
-    <include file="$(find rosbridge_server)/launch/rosbridge_websocket.launch" >
-        <arg name="port" value="9090"/>
-    </include>
-    -->
-
-    <!--
-    <node pkg="suricate_robot" type="visual_odometry" name="visual_odometry"/>
-    -->
+    <node name="rviz" pkg="rviz" type="rviz" args="-d $(find suricate_robot)/simulation/rviz_robot_test.rviz"
+          required="false" />
 </launch>
diff --git a/launch/PID_controller_init.launch b/launch/PID_controller_init.launch
@@ -0,0 +1,16 @@
+<launch>
+    <node pkg="suricate_robot" type="robot_controller.py" name="robot_controller" required="true" >
+        <param name="S_kp" type="double" value="0.1" />
+        <param name="S_kd" type="double" value="0.02" />
+        <param name="S_ki" type="double" value="0.04" />
+        <param name="S_windup" type="double" value="0.8" />
+
+        <param name="P_kp" type="double" value="0.1" />
+        <param name="P_kd" type="double" value="0" />
+        <param name="P_ki" type="double" value="0.02" />
+        <param name="P_windup" type="double" value="0.2" />
+
+        <param name="scaling_joy" type="double" value="3.0" />
+    </node>
+</launch>
+
diff --git a/launch/raspberry_init.launch b/launch/raspberry_init.launch
@@ -28,8 +28,7 @@
     <!--
     <node pkg="suricate_robot" type="robot_visualization.py" name="robot_visualization" required="true" />
      -->
-
-    <!--
+<!--
     <node pkg="suricate_robot" type="robot_controller.py" name="robot_controller" required="true" >
         <param name="S_kp" type="double" value="0.25" />
         <param name="S_kd" type="double" value="0.03" />
@@ -43,7 +42,31 @@
 
         <param name="scaling_joy" type="double" value="1" />
     </node>
-    -->
+-->
+
+    <!--
+    <node pkg="suricate_robot" type="robot_controller.py" name="robot_controller" required="true" >
+        <param name="S_kp" type="double" value="0.1" />
+        <param name="S_kd" type="double" value="0.02" />
+        <param name="S_ki" type="double" value="0.04" />
+        <param name="S_windup" type="double" value="0.8" />
+
+        <param name="P_kp" type="double" value="0.1" />
+        <param name="P_kd" type="double" value="0" />
+        <param name="P_ki" type="double" value="0.02" />
+        <param name="P_windup" type="double" value="0.2" />
+
+        <param name="scaling_joy" type="double" value="3.0" />
+    </node>
+-->
+
+
+    <node pkg="suricate_robot" type="robot_controller_LQR_V1.py" name="robot_controller" required="true" >
+        <param name="scaling_joy" type="double" value="2.1" />
+        <param name="rate" type="double" value="150" />
+        <param name="gain_LQR" type="double" value="0.0019" />
+        <param name="environment" type="string" value="robot" />
+    </node>
 
     <!--
     <node pkg="robot_micro" type="robot_controller_LQR.py" name="robot_controller" required="true" ></node>