ECHO

ECHO's workspace for robotics dojo 2024 competition. The dojo package is the main package , the articubot_one package is for reference and for any more info on how to work with this ros workspace refer to Articulated Robotics Tutorial , the sllidar_ros2 is for the lidar and the diffdrive_arduino is for hardware interface .

📝 Note: FOR PROPER OPERATION IN THE PI CHECKOUT TO THE pi BRANCH. ALSO IF ISSUES ARE ECOUNTERED WHEN USING THE MAIN BRANCH ON YOUR PC/DEV MACHINE TRY OUT THE DEMO BRANCH

Packages used

Official packages

• Gazebo
• Rviz
• Colcon
• Teleop_twist
• Twist_mux
• Nav2
• Slam Tool box
• Ros2 Control

Chekout README_dojo.md on installation instructions

Github sourced packages

• SLLidar ROS2

  • Repository: Slamtec/sllidar_ros2

• Diffdrive Arduino

  • Repository(humble branch): joshnewans//diffdrive_arduino
  • This node is used together with an arduino running ros_arduino_bridge

Package used for reference

• Articubot One
  • Repository: joshnewans/articubot_one
  • Based on tutorial: Articulated Robotics Tutorial

Customized github package

• Dojo
  • Repository: ru3ll/dojo

Additional Instructions

For rplidar the package used is Slamtec/sllidar_ros2 and not the one used in the Articulated Robotics Tutorial tutorial

IMPORTANT COMMANDS WHEN ROBOT IS FULLY RUNNING / FOR ROBOT TO FULLY RUN

📝 Note: FOR PROPER OPERATION IN THE PI CHECKOUT TO THE pi BRANCH

ON BOT IN SAME NETWORK RUNNING pi BRANCH WORKSPACE

Command for robot launch file

ros2 launch dojo launch_robot.launch.py

sllidar_ros2 running requires the read and write permissions of the serial device. You can manually modify it with the following command:

sudo chmod 777 /dev/ttyUSB0

The command for RPLIDAR A1 is :

ros2 launch sllidar_ros2 sllidar_a1_launch.py

ON PC IN SAME NETWORK RUNNING main BRANCH WORKSPACE

launch rviz with the environment on the folder

rviz2 -d ./src/dojo/rviz/default.rviz

launch teleop twist keyboard

ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r /cmd_vel:=/cmd_vel_key

Teleop Twist with topic remap

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

Launch SLAM for navigation

ros2 launch slam_toolbox online_async_launch.py slam_params_file:=./src/dojo/config/mapper_params_online_async.yaml use_sim_time:=true

Launch Nav2

ros2 launch nav2_bringup navigation_launch.py use_sim_time:=true

Running nav2

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

ACML commands

ros2 launch nav2_bringup localization_launch.py map:=./may_map_save.yaml use_sim_time:=true

ros2 launch nav2_bringup localization_launch.py map:=./may_map_save.yaml use_sim_time:=true map_subscribe_transient_local:=true

Checkout README_dojo.md for more