DEV_PI_COMMUNICATE

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Introduction

This is a ROS2 package for controlling our robot. It contains multiple nodes and topics. The executables and transforms are listed as follows:

• Executables:

1. joy_node: To receive the data from joystick controller and generate the necessary command for stm32
2. camera_node: To receive the data from camera and generate the necessary command for stm32
3. serial_comm_node: To recieve data from stm32 serially
4. teleop_key_node: To control the bot from teleop_twist_keyboard
5. publisher_node: practice node for publishing immediate data
6. subscriber_node: practice node for receiving immediate data

• Transforms:

1. map->base_link
2. odom->base_link
3. base_link->laser_frame

• NOTE: Localization package( eg: nav2_amckl, slam_toolbox), will create map->odom transform

How to use

• Create a workspace and src directory inside the ws.
• Navigate to the src directory and clone this repo.
• come out of the directory and build the package:

  colcon build --symlink-install

• Source the package:

  source install/setup.bash

Execute following commands:

  ros2 launch dev_pi_communicate robot_bringup.launch.py 

• Launch rplidar package:

  ros2 run rplidar_ros rplidar_composition --ros-args -p serial_port:=/dev/serial/by-id/usb-Silicon_Labs_CP2102_USB_to_UART_Bridge_Controller_0001-if00-port0 -p serial_baudrate:=115200 -p angle_compensate:=true -p frame_id:=laser_frame

• To publish the saved map:

  ros2 run nav2_map_server map_server --ros-args -p yaml_filename:=./ros-projects/dev_pi_communicate/maps/good_map.yaml

  ros2 run nav2_util lifecycle_bringup map_server 

• To launch AMCL:

  ros2 run nav2_amcl amcl --params-file ~/ros-projects/dev_pi_communicate/src/dev_pi_communicate/config/nav2_amcl.yaml 

  ros2 run nav2_util lifecycle_bringup amcl

• Launch nav2 navigation launch file:

  ros2 launch nav2_bringup navigation_launch.py params_file:=./ros-projects/dev_pi_communicate/src/dev_pi_communicate/config/ nav2_params.yaml

• To launch EKF package:

  ros2 launch robot_localization ekf.launch.py

• To run laser filter node:

  ros2 run laser_filters scan_to_scan_filter_chain --ros-args --params-file /home/rpi/ros-projects/dev_pi_communicate/src/dev_pi_communicate/config/laser_filter.yaml

• To run micro_ros client:

  ros2 run micro_ros_agent micro_ros_agent serial --dev /dev/serial/by-id/usb-Silicon_Labs_CP2102_USB_to_UART_Bridge_Controller_0001-if00-port0

• To launch SLAM_TOOLBOX(To create new map)

  ros2 launch slam_toolbox online_async_launch.py slam_params_file:=./src/dev_pi_communicate/config/mapper_params_online_async.yaml 

• To save the map:

  ros2 run nav2_map_server map_saver_cli -f /filename

• To change to cyclone dds:

  sudo apt install ros-${distro}-rmw-cyclonedds-cpp
  export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
  export RMW_CYCLONEDDS_USE_UDP=1

Resources

Links:

• https://docs.ros.org/en/humble/index.html
• https://github.com/SteveMacenski/slam_toolbox
• https://navigation.ros.org/
• https://kaiyuzheng.me/documents/navguide.pdf
• https://www.researchgate.net/publication/349602009_An_Extended_Analysis_on_Tuning_The_Parameters_of_Adaptive_Monte_Carlo_Localization_ROS_Package_in_an_Automated_Guided_Vehicle/fulltext/6037cd1a4585158939cd8ec5/An-Extended-Analysis-on-Tuning-The-Parameters-of-Adaptive-Monte-Carlo-Localization-ROS-Package-in-an-Automated-Guided-Vehicle.pdf

Images