SLAMBOX ros driver

SLAMBOX ros driver is a ROS package to communicate with SLAMBOX.

Table of Contents

• 1. Getting started
  • 1.1. Installation
    • 1.1.1. Requirements
    • 1.1.2. (Optional) Building the docker image
    • 1.1.3. Local ROS system
      • Pre-requisite
  • 1.2. Configuration
    • 1.2.1. Client configuration
  • 1.3. Usage
• 2. Getting help
• 3. Contributing
• 4. External resources

1. Getting started

1.1. Installation

1.1.1. Requirements

• ROS humble (Recommended)
• SLAMBOX-SDK (v0.2.0)
• glog (>=v0.6.0)
• PCL (tested on v1.12.0)
• ros PCL
• ros PCL conversions
• CMake (>= 3.16.3)
• docker (Optional but highly recommended)
• dialout group permission. Use below command to include dialout group to your linux account for UART communication.

  sudo usermod -aG dialout $USER

1.1.2. (Optional) Building the docker image

• Our docker image includes development environment. We highly recommend docker system.

  # Clone this repository
  git clone https://github.com/j-marple-dev/slambox-ros2.git
  
  # Change directory
  cd slambox-ros2
  
  # Build docker image
  docker build . -t jmarpledev/slambox-ros2 -f docker/Dockerfile  --build-arg UID=$(id -u) --build-arg GID=$(id -u)

1.1.3. Local ROS system

Pre-requisite

• SLAMBOX-SDK: Please follow installation instruction on https://github.com/j-marple-dev/slambox-sdk

• Install PCL, PCL conversions, PCL ROS

# Install requirements first
sudo apt install -y libpcl-dev ros-humble-pcl-ros ros-humble-pcl-conversions

# Assuming that your ROS workspace is ~/ros2_ws
mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src
git clone https://github.com/j-marple-dev/slambox-ros2.git --recursive
cd ../
colcon build --packages-select slambox_ros2
# Choose the shell which you are using
source install/setup.{bash|zsh}

1.2. Configuration

1.2.1. Client configuration

• Please modify config/client.yaml for configuration on client side.
• Make sure SLAMBOX Setting align with the config.yaml

serial_communication:
  enabled: true
  port_name: "/dev/ttyUSB0"
  baudrate: 921600

ethernet_communication:
  enabled: false
  server_addr: "192.168.101.101"
  port: 21580

publish:
  odom_topic: "/SLAMBOX/odom"
  pointcloud_topic: "/SLAMBOX/pointcloud"

subscribe:
  request_topic: "/SLAMBOX/request"

1.3. Usage

1.3.1. Local ROS system

• Running ROS node

  ros2 launch slambox_ros2 slambox_ros_client_launch.py

• Check rostopic in another shell

  ros2 topic hz /SLAMBOX/odom /SLAMBOX/pointcloud

1.3.2. Running on Docker image

• Run docker container for running SLAMBOX-ROS client

  docker run -ti --privileged -e DISPLAY=:0 -e TERM=xterm-256color -v /tmp/.X11-unix:/tmp/.X11-unix:ro -v /dev:/dev -v $PWD:/home/user/ros2_ws/src/slambox-ros2 --network host jmarpledev/slambox-ros2 /usr/bin/zsh

• Run docker container for running SLAMBOX-ROS client with rviz visualization

  docker run -ti --privileged -e TERM=xterm-256color -e DISPLAY=:0 -v /dev:/dev -v /tmp/.X11-unix:/tmp/.X11-unix:ro -v $PWD:/home/user/ros2_ws/src/slambox-ros2 --network host jmarpledev/slambox-ros2 /usr/bin/bash -lic "ros2 launch slambox_ros2 slambox_ros_client_launch.py"

• Run docker container with shell (For development environment)

  docker run -ti --privileged -e DISPLAY=:0 -e TERM=xterm-256color -v /tmp/.X11-unix:/tmp/.X11-unix:ro -v /dev:/dev -v $PWD:/home/user/ros2_ws/src/slambox-ros2 --network host jmarpledev/slambox-ros2 /usr/bin/zsh

2. Getting help

Please visit https://sbox.jmarple.ai for more information.

3. Contributing

• For those who wish to contribute to this proejct please refer to the CONTRIBUING.md.

4. External resources

• glog - Google Logging Library
• ducker - Docker Helper CLI application