Robots from the Intelligent Robotics Lab using ROS 2

This project contains the launchers to run the Tiago robot from PAL Robotics and Turtlebot2 Kobuki, both in simulated running different Gazebo worlds, including the AWS Robomaker worlds, as in the real robot using its drivers.

Recommended: use Eclipse Cyclone DDS. You can do this by installing it with sudo apt install ros-humble-rmw-cyclonedds-cpp and setting the RMW_IMPLEMENTATION environment variable: export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp. Add it to your .bashrc

Installation on your own computer

You need to have previously installed ROS2. Please follow this guide if you don't have it.

source /opt/ros/humble/setup.bash

Clone the repository to your workspace:

cd <ros2-workspace>/src
git clone https://github.com/IntelligentRoboticsLabs/ir_robots.git

Prepare your thirparty repos:

sudo apt update
sudo apt install python3-vcstool python3-pip python3-rosdep python3-colcon-common-extensions -y
cd <ros2-workspace>/src/
vcs import < ir_robots/thirdparty.repos

Please make sure that this last command has not failed. If this happens, run it again.

Install libusb, libftdi & libuvc

sudo apt install libusb-1.0-0-dev libftdi1-dev libuvc-dev

Install udev rules from astra camera, kobuki and rplidar

When you connect a piece of hardware to your pc, it assigns /dev/ttyUSB* to it. This will not have the necessary read/write permissions, so we will not be able to use it correctly. The solution is to set up some udev rules that creates a symlink with another name (example: /dev/ttyUSB0 -> /dev/kobuki) and grants it the necessary permissions.

cd <workspace-ros2>
sudo cp src/ThirdParty/ros_astra_camera/astra_camera/scripts/56-orbbec-usb.rules /etc/udev/rules.d/
sudo cp src/ThirdParty/rplidar_ros/scripts/rplidar.rules /etc/udev/rules.d/
sudo cp src/ThirdParty/kobuki_ftdi/60-kobuki.rules /etc/udev/rules.d/
sudo udevadm control --reload-rules && sudo udevadm trigger

Move xtion calibration

Some cameras need a calibration file where they indicate, for example, their resolution, name, etc...

mkdir -p ~/.ros/camera_info
cp <ros2-workspace>/src/ThirdParty/openni2_camera/openni2_camera/rgb_PS1080_PrimeSense.yaml ~/.ros/camera_info

Building project

sudo rosdep init
rosdep update
rosdep install --from-paths src --ignore-src -r -y
colcon build --symlink-install --cmake-args -DBUILD_TESTING=OFF

For this build we use --cmake-args -DBUILD_TESTING=OFF to avoid compiling our tests as well and save time. It is recommended to compile later without this flag.

Setup Gazebo to find models - GAZEBO_MODEL_PATH and project path

source /usr/share/gazebo/setup.bash
source <ros2-workspace>/install/setup.bash

It is recommended to add these two lines inside your .bashrc to avoid having to run it every time you open a new shell

Installation in the laboratories of the university

In the computers of the university laboratories you will already have all the ros 2 packages installed, so you will not have to install any tools or dependencies. Add COLCON_IGNORE to the packages used by real robots to avoid any problems when building.

cd <ros2-workspace>/src/
git clone https://github.com/IntelligentRoboticsLabs/ir_robots.git
vcs import < ir_robots/thirdparty.repos

touch ThirdParty/ros_astra_camera/astra_camera/COLCON_IGNORE
touch ThirdParty/ros_astra_camera/astra_camera_msgs/COLCON_IGNORE
touch ThirdParty/kobuki_ros/kobuki_node/COLCON_IGNORE
touch ThirdParty/kobuki_ros/kobuki_auto_docking/COLCON_IGNORE
touch ThirdParty/kobuki_core/COLCON_IGNORE
touch ThirdParty/kobuki_ftdi/COLCON_IGNORE
touch ThirdParty/ecl/ecl_core/COLCON_IGNORE
touch ThirdParty/ecl/ecl_lite/COLCON_IGNORE
touch ThirdParty/openni2_camera/openni2_camera_msgs/COLCON_IGNORE
touch ThirdParty/openni2_camera/openni2_camera/COLCON_IGNORE

source /opt/ros/<ros2-distro>/setup.bash
cd <ros2-workspace>
colcon build --symlink-install

Remember that in the laboratories you will only be able to run the simulation of the environment with the different robots, you will not be able to use it on a real robot.

Run Gazebo & robot in ROS2

Modify config/params.yaml to select the robot (kobuki/tiago), select the world and starting positions:

...
ir_robots:
  simulation: true
  world: aws_house
  robot: kobuki
  robot_position:
    x: 0.0
    y: 0.0
    z: 0.0
    roll: 0.0
    pitch: 0.0
    yaw: 0.0
  tiago_arm: no-arm
  kobuki_camera: none
  kobuki_lidar: false
...

Then, launch your simulation environment:

source install/setup.sh
ros2 launch ir_robots simulation.launch.py

If you have a low performance, close the Gazebo's client. Check gzclient process, and kill it:

kill -9 `pgrep -f gzclient`

Run a real kobuki in ROS 2

First, modify config/params.yaml to use kobuki, if you are using camara (xtion/astra/none) and if you are using lidar (true/false)

...
ir_robots:
  simulation: true
  world: aws_house
  robot: kobuki
  robot_position:
    x: 0.0
    y: 0.0
    z: 0.0
    roll: 0.0
    pitch: 0.0
    yaw: 0.0
  kobuki_camera: astra
  kobuki_lidar: true
...

Then, run the kobuki drivers:

source install/setup.sh
ros2 launch ir_robots kobuki.launch.py

Run Navigation in ROS 2

You can use Nav2 using robot in the selected world in your config/params.yaml:

source install/setup.sh
ros2 launch ir_robots navigation.launch.py

If simulation param is set to false, Navigation2 is ready to use in the real robot.

Also, you can use Keepout Zones, just create a new map including the excluded areas, and use the same name adding _keep, now publish the map running:

source install/setup.sh
ros2 launch ir_robots keepzone.launch.py

Just some AWS worlds are included.

Run the SLAM

Launch SLAM

If you want to make your own map, set slam parameter to true in the config/params.yaml:

source install/setup.sh
ros2 launch ir_robots navigation.launch.py

Save the map

ros2 run nav2_map_server map_saver_cli --ros-args -p use_sim_time:=true

Load the new map

Move the map to the maps/ folder inside the package. Then remember to rename it and modify the name inside the yaml. Finally, modify the world parameter, adding the name of your new map.

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