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moby_mapping
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moby_navigation
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LICENSE.md
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README.md
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MOBY ROS2 HUMBLE

Installation

Supported OS (2023.01.08)

  • Ubuntu 22.04
  • ROS2 Humble
  • Python 3.10

BIOS Setting (NUC)

  • Connect monitor, keyboard and mouse to NUC and reboot, press F2 to enter BIOS Setup
  • Boot > Secure boot > Secure boot > Disabled
  • Power > Secondary Power Settings > After Power Failure > Power On
  • Advanced > Onboard Devices > Bluetooth > Uncheck
  • Press F10 to Save and Exit

Basic Setup

  • Install basic tools (make sure sudo apt-get update finishes w/o any error)
sudo apt-get update \
&& sudo apt-get install -y git openssh-server net-tools \
&& sudo apt-get install -y python3-pip \
&& sudo pip3 install --upgrade pip \
&& sudo pip3 install setuptools \
&& pip3 install --upgrade setuptools \
&& sudo apt install protobuf-compiler=3.12.4-1ubuntu7 \
&& python3 -m pip install protobuf==3.19.4 grpcio==1.48.2 grpcio_tools==1.48.2 \
&& sudo apt-get install jupyter
  • Disable kernel update (kernel updates sometimes break some package functions)
sudo apt-mark hold linux-image-generic linux-headers-generic

Install ROS2 HUMBLE

Setup sources

sudo apt install software-properties-common \
&& sudo add-apt-repository universe \
&& sudo apt update && sudo apt install curl \
&& sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg \
&& echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null \
&& sudo apt update \
&& sudo apt upgrade

Install ROS2 HUMBLE and dependent packages

sudo apt install -y ros-humble-desktop python3-argcomplete \
&& sudo apt install -y ros-humble-ros-base \
&& sudo apt install -y ros-dev-tools \
&& sudo apt install -y ros-humble-perception-pcl \
&& sudo apt install -y ros-humble-cartographer* \
&& sudo apt install -y ros-humble-xacro  \
&& sudo apt install -y ros-humble-ros2-control  \
&& sudo apt install -y ros-humble-ros2-controllers  \
&& sudo apt install -y ros-humble-controller-manager  \
&& sudo apt install -y ros-humble-joint-state-broadcaster \
&& sudo apt install -y ros-humble-joint-state-publisher-gui \
&& sudo apt install -y ros-humble-navigation2 \
&& sudo apt install -y ros-humble-nav2* \
&& sudo apt install -y ros-humble-geographic-msgs \
&& sudo apt install -y ros-humble-robot-localization \
&& sudo apt install -y ros-humble-joy-linux \
&& sudo apt install -y ros-humble-libg2o \
&& sudo apt install -y ros-humble-slam-toolbox \
&& sudo apt install -y python3-colcon-common-extensions \
&& sudo apt-get install python3-rosdep -y \
&& sudo rosdep init

source workspace

source /opt/ros/humble/setup.bash
echo 'source /opt/ros/humble/setup.bash' >> ~/.bashrc

Install Sensor Dependencies

Realsense

  • librealsense
    • NOTE Version fixed because sensors are not recognized with recent version (2.53)
sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE \
|| sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE \
&& sudo add-apt-repository "deb https://librealsense.intel.com/Debian/apt-repo $(lsb_release -cs) main" -u \
&& sudo apt-get -y install librealsense2-dkms=1.3.19-0ubuntu1 \
    librealsense2=2.53.1-0~realsense0.8251 \
    librealsense2-gl=2.53.1-0~realsense0.8251 \
    librealsense2-net=2.53.1-0~realsense0.8251 \
    librealsense2-udev-rules=2.53.1-0~realsense0.8251 \
    librealsense2-utils=2.53.1-0~realsense0.8251 \
    librealsense2-dev=2.53.1-0~realsense0.8251 \
    librealsense2-dbg=2.53.1-0~realsense0.8251 \
&& sudo pip3 install pyrealsense2==2.53.1.4623

Build Moby Source

  • Create workspace
mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src

  • Copy the project's src contents to ~/ros2_ws/src

  • Get dependencies

cd ~/ros2_ws/src
git clone https://github.com/relffok/ira_laser_tools.git -b ros2-devel
git clone https://github.com/rst-tu-dortmund/teb_local_planner -b ros2-master  # master branch is for humble now (2023.02.11)
git clone --depth 1 --branch 0.1.2 https://github.com/rst-tu-dortmund/costmap_converter
git clone --depth 1 --branch 4.51.1 https://github.com/IntelRealSense/realsense-ros
git clone --depth 1 --branch 2.8.11 https://github.com/SICKAG/sick_scan_xd
cd ~/ros2_ws \
&& rosdep update \
&& rosdep install -i --from-path src --rosdistro $ROS_DISTRO --skip-keys=librealsense2 -y
  • Build sick_scan first in a clean state
source /opt/ros/humble/setup.bash
cd ~/ros2_ws
rm -rf build install log
colcon build --packages-select sick_scan --cmake-args " -DROS_VERSION=2" " -DLDMRS=0" " -DSCANSEGMENT_XD=0" " -DCMAKE_BUILD_TYPE=Release" --event-handlers console_direct+
  • Build other packages
cd ~/ros2_ws
colcon build --packages-skip sick_scan --cmake-args -DCMAKE_BUILD_TYPE=Release
  • Source setup file
. install/setup.bash
echo 'source $HOME/ros2_ws/install/setup.bash' >> ~/.bashrc

Usage

NOTE

  • Moby behavior: define Moby behavior
  • Moby description: define Moby model
  • Moby bringup: connect to Moby GRPC server
  • Moby mapping: mapping using cartographer or slam toolbox
  • Moby navigation: navigation with Moby
  • Moby marker detection: detect Aruco marker

Moby Setting

  • Change the Moby config in moby-ros2/moby_bringup/param/moby_config.yaml
  • Moby Type
    • Robot type [moby_rp, moby_agri]
  • Step IP
    • Ip address of STEP PC
  • Sick IP
    • Connect Windows Computer (with Sopas ET installed) to the router.
    • Open Sopas ET and scan devices
    • Change IP address of the TIM lidars
      • front: 192.168.214.10
      • rear: 192.168.214.11
  • Realsense
    • Open realsense-viewer from NUC
    • Check serial numbers for each camera
    • Change serial numbers in config file

To Start Control Moby

ros2 launch moby_bringup moby_bringup.launch.py

To Start Mapping

  • Connect to the controller

    • Press X + Home button to connect controller to Moby (red led ON)
    • When the controller connected
      • To move: Press L2 + Left joystick for moving (non-holonomic)
      • To move: Press L2 + Right joystick for moving (holonomic)
      • To change speed: Press R, R2 to change speed. Maximum 0.8 m/s (linear), 0.8 rad/s (angular)

  • Using Cartographer

ros2 launch moby_bringup moby_bringup.launch.py
ros2 launch moby_mapping cartographer.launch.py
  • Using Slam Toolbox
ros2 launch moby_bringup moby_bringup.launch.py
ros2 launch moby_mapping slam_toolbox.launch.py
  • To see the Map
    • On Rviz press Add (Near bottom left) => Choose Map
  • To save the Map
ros2 run nav2_map_server map_saver_cli -f ~/<map_name>
  • Easy map application - save as <map_name> = default_map and copy to working directory as below
mkdir ~/map_bak
mv ~/default_map.* ~/map_bak
ros2 run nav2_map_server map_saver_cli -f ~/default_map \
&& cp ~/default_map.* ~/ros2_ws/install/moby_navigation/share/moby_navigation/map/ \
&& cp ~/default_map.* ~/ros2_ws/src/moby-ros2/moby_navigation/map/

To Start Navigation

  • Change the map before navigation
    • Copy map file to moby_navigation/map (2 files .pgm and .yaml)
    • Modify yaml file: Change the path link to pgm file to: image: <map_name.pgm>
    • In folder moby_navigation/launch modify navigation2.launch.py change map file in map_dir variable (line 30).
ros2 launch moby_bringup moby_bringup.launch.py
ros2 launch moby_navigation navigation2.launch.py
  • Can tuning navigation parameter in moby_navigation/param folder.

To Detect Marker

  • Bring up start front, right and left camera
  • To record marker: Start mapping, start moby_marker.launch.py and moby_save_marker.py => slowly move robot to generate map and record the markers.
  • moby_marker.launch.py: start publish marker pose (respect to camera coordinate), id and transform
  • moby_save_marker.py: save the marker pose [left camera] (respect to map coordinate) to SQL database [This function can only work when a map coordinate exist]
ros2 launch moby_marker_detection moby_marker.launch.py
ros2 run moby_marker_detection moby_save_marker.py
  • moby_rails_pose_from_markers.py: to calculate and save rail position to database.
python3 moby_rails_pose_from_markers.py
  • moby_scenario_task.py: send navigation goal to robot, move robot on the rail.
    • When the function starts, it will ask to confirm. Press Enter to confirm.
ros2 run moby_marker_detection moby_scenario_task.py

Pairing PG-9023S with External Bluetooth Dongle

  • [Prerequisite] Disable onboard bluetooth as described in BIOS Setting section
  • After boot, Login and Open Bluetooth setting
  • Push and hold HOME + X on PG-9023S until SEARCH LED blinks rapidly
  • Find PG-9023S on the bluetooth device list and connect.

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ROS2 package for neuromeka Moby-RP

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