MilanLR/ROS2-rerun-integration

Nodes to transform ROS2 data to be used in Rerun.

ROS2-rerun-integration

Nodes to transform ROS2 data to be used in Rerun.

Build the package

colcon build --symlink-install

Source the setup

. install/setup.bash

Run the node

ros2 run rerun_visualization rerun_node

Depth camera setup

This installation guide worked for the Realsense D435, on a ubuntu 22.04 VM. It will probably also work for other realsense cameras, but is not tested. Make sure to use a USB3 cable.

sudo apt install ros-humble-realsense2_camera*
ros2 launch realsense2_camera rs_launch.py pointcloud.enable:=true

Mini Pupper 2 setup

First, flash Ubuntu for the raspberry pi 4 onto an micro SD card, see https://ubuntu.com/download/raspberry-pi

On the Pupper, install the board support package (bsp)

cd
git clone <https://github.com/mangdangroboticsclub/mini_pupper_2_bsp.git> mini_pupper_bsp
cd mini_pupper_bsp
./install.sh
reboot

On the Pupper, install Ros 2 Humble

cd
git clone <https://github.com/mangdangroboticsclub/mini_pupper_ros.git> -b ros2-dev mini_pupper_ros
cd mini_pupper_ros
./install.sh

On the Pupper, download the urdf file

cd
git clone <https://github.com/mangdangroboticsclub/mini_pupper_ros.git> -b ros2-dev mini_pupper_ros_urdf

For simplicity, always source ros 2

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

On the host machine, install rust

curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh

Then install rerun

cargo install rerun-cli
rerun

Now in one terminal on the Pupper, run bringup

ros2 launch mini_pupper_bringup bringup.launch.py

In another terminal, run Swanky

cd
git clone <https://github.com/MilanLR/ROS2-rerun-integration> -b node
cd ROS2-rerun-integration

Run Swanky

Optionally, change the IP address in rerun_visualization/rerun_node.py to your hosts' IP address first

colcon build --symlink-install && \
    . install/setup.bash && \
    ros2 run rerun_visualization rerun_node

Install ros2 cartographer

sudo apt install ros-humble-cartographer
sudo apt install ros-humble-cartographer-ros

Run the generic cartographer node

. install/setup.bash
ros2 launch generic_cartographer cartographer.launch.py

Turtle-bot setup

First, flash Ubuntu for the raspberry pi 4 onto an micro SD card, see https://ubuntu.com/download/raspberry-pi. For additional setup of the network and ssh see https://emanual.robotis.com/docs/en/platform/turtlebot3/sbc_setup/#sbc-setup

Install ros2 humble following https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html

Install ros2 cartographer

sudo apt install ros-humble-cartographer
sudo apt install ros-humble-cartographer-ros

Install TurtleBot3 packages and drivers

sudo apt install ros-humble-hls-lfcd-lds-driver
sudo apt install ros-humble-turtlebot3-msgs
sudo apt install ros-humble-dynamixel-sdk
sudo apt install libudev-dev

Clone the nodes necessary for bringup and teleop

mkdir -p ~/turtlebot3_ws/src && cd ~/turtlebot3_ws/src
git clone -b humble-devel https://github.com/ROBOTIS-GIT/turtlebot3.git
git clone -b ros2-devel https://github.com/ROBOTIS-GIT/ld08_driver.git
cd ~/turtlebot3_ws/

Build the nodes

echo 'source /opt/ros/humble/setup.bash' >> ~/.bashrc
source ~/.bashrc
colcon build --symlink-install --parallel-workers 1
echo 'source ~/turtlebot3_ws/install/setup.bash' >> ~/.bashrc
source ~/.bashrc

Setup the USB port for OpenCR

sudo cp `ros2 pkg prefix turtlebot3_bringup`/share/turtlebot3_bringup/script/99-turtlebot3-cdc.rules /etc/udev/rules.d/
sudo udevadm control --reload-rules
sudo udevadm trigger

Set the LDS model type

echo 'export LDS_MODEL=LDS-02' >> ~/.bashrc # or LDS-01
source ~/.bashrc

Install packages to be able flash OpenCR board

sudo dpkg --add-architecture armhf
sudo apt update
sudo apt install libc6:armhf
export OPENCR_PORT=/dev/ttyACM0
export OPENCR_MODEL=burger
rm -rf ./opencr_update.tar.bz2

Flash the OpenCR board

wget https://github.com/ROBOTIS-GIT/OpenCR-Binaries/raw/master/turtlebot3/ROS2/latest/opencr_update.tar.bz2
tar -xvf ./opencr_update.tar.bz2
cd ~/opencr_update
./update.sh $OPENCR_PORT $OPENCR_MODEL.opencr

Run the bringup node

export TURTLEBOT3_MODEL=burger
ros2 launch turtlebot3_bringup robot.launch.py

In another terminal, install Swanky

cd
git clone <https://github.com/MilanLR/ROS2-rerun-integration> -b node
cd ROS2-rerun-integration

Run Swanky

Optionally, change the IP address in rerun_visualization/rerun_node.py to your hosts' IP address first

colcon build --symlink-install && \
    . install/setup.bash && \
    ros2 run rerun_visualization rerun_node

Run the generic cartographer node

. install/setup.bash
ros2 launch generic_cartographer cartographer.launch.py