Carr-E-2

🚃 Autonomous luggage cart

Basic setup

If stuck with weird errors, run the basic setup again and then attempt the same process.

First, create a folder called dev_ws and clone this repository

mkdir dev_ws
cd dev_ws
git clone https://github.com/Gaurang-1402/Carr-E-2

Now you have to build your ws with colcon

colcon build --symlink-install

Adding --symlink-install makes it so that you don't have to rebuild every time you change urdfs but instead only have to build again if a new urdf file is added.

Now, you have to source the setup.bash file

source install/setup.bash

Running the robot on RVIZ

Open a new terminal and run the robot state publisher

ros2 launch carr-e-2 rsp.launch.py

If everything works well, open a new terminal and run rviz using the configuration created by Gaurang

rviz2 -d carr-e-2/config/carr-e-2-rviz-config.rviz 

The wheels need to get continous values. Since this is a simulation we need to provide these values through a joint state publisher gui. Open a new terminal and run

ros2 run joint_state_publisher_gui joint_state_publisher_gui

Running the robot on Gazebo

Install Gazebo if not done already

sudo apt install ros-foxy-gazebo-ros-pkgs

Open a new terminal and run the robot state publisher

ros2 launch carr-e-2 rsp.launch.py use_sim_time:=true

We need to provide the use_sim_time:=true param to make the robot state publisher follow the simulation's time.

You can verify this by running

ros2 param get /robot_state_publisher use_sim_time 
$ Boolean value is: True

We need to run RVIZ before we run Gazebo so run rviz by using the following command

rviz2 -d carr-e-2/config/carr-e-2-gazebo-lidar-config.rviz 

Ensure basic setup is rerun. Now to run Gazebo, open a new terminal and run

ros2 launch carr-e-2 launch_sim.launch.py world:=./carr-e-2/worlds/obstacles.world

A gazebo window will open with the robot correctly placed.

We use a world called "obstacles.world" created by Gaurang by default. But this can be changed.

We can now use teleop to control the movement of the robot by opening a new terminal and running the following command

ros2 run teleop_twist_keyboard teleop_twist_keyboard

We can now control the movement of the robot using keys on the keyboard

Camera plugins

Install the following packages

sudo apt install ros-foxy-image-transport-plugins
sudo apt install ros-foxy-rqt-image-view

On a new terminal run

ros2 run rqt_image_view rqt_image_view

We need to run RVIZ before we run Gazebo so run rviz by using the following command

rviz2 -d carr-e-2/config/carr-e-2-gazebo-camera-config.rviz 

ROS2 Control

Install the following packages

sudo apt install ros-foxy-ros2-control ros-foxy-ros2-controllers ros-foxy-gazebo-ros2-control

Then run these 2 commands

ros2 run controller_manager spawner.py diff_cont

ros2 run controller_manager spawner.py joint_broad

Finally run the following command to control the robot using the keyboard

ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r /cmd_vel:=/diff_cont/cmd_vel_unstamped

Joystick control in Gazebo

Open a new terminal and run

ros2 run joy_tester test_joy

This will help you debug any errors if present. Along with test_joy run this on a new terminal

ros2 topic echo joy

Run the joystick node

ros2 launch carr-e-2 joystick.launch.py

To check cmd_vel, run

ros2 topic echo /diff_cont/cmd_vel_unstamped

Run SLAM toolbox

Install packages

sudo apt install ros-foxy-slam-toolbox

Then run

ros2 launch slam_toolbox online_async_launch.py params_file:=./carr-e-2/config/mapper_params_online_async.yaml use_sim_time:=true

Run Nav2

Install packages

sudo apt install ros-foxy-navigation2 ros-foxy-nav2-bringup ros-foxy-turtlebot3*

On 2 different terminals, run map server

ros2 run nav2_util lifecycle_bringup map_server
ros2 run nav2_map_server map_server --ros-args -p yaml_filename:=my_map_save.yaml -p use_sim_time:=true

Running AMCL

ros2 run nav2_util lifecycle_bringup amcl
ros2 run nav2_amcl amcl --ros-args -p use_sim_time:=true

TWIST COMMAND

ros2 run twist_mux twist_mux --ros-args --params-file ./carr-e-2/config/twist_mux.yaml -r cmd_vel_out:=diff_cont/cmd_vel_unstamped

SECOND THING

ros2 launch nav2_bringup navigation_launch.py my_map:=./my_map_save.yaml  use_sim_time:=true

Physical robot

Testing motors

miniterm -e /dev/ttyUSB0 57600

 ros2 run serial_motor_demo driver --ros-args -p serial_port:=/dev/ttyUSB0 -p baud_rate:=57600 -p loop_rate:=30 -p encoder_cpr:=678

Testing Lidar

Install rplidar

sudo apt install ros-foxy-rplidar-ros

Run rplidar node

ros2 run rplidar_ros rplidar_composition --ros-args -p serial_port:=/dev/ttyUSB0  -p frame_id:=laser_frame -p  angle_compensate:=true -p scan_mode:=Standard 

Stop or start motor

 ros2 service call /stop_motor std_srvs/srv/Empty {}

 ros2 service call /start_motor std_srvs/srv/Empty {}

Camera

sudo apt install libraspberrypi-bin v4l-utils ros-foxy-v4l2-camera

ros2 run v4l2_camera v4l2_camera_node --ros-args -p image_size:="[640,480]" -p camera_frame_id:=camera_link_optical