TouchDeeper/BetaGo

BetaGo robot maintained by South China University of Technology PEMT Laboratory

Overview

This repository is about the BetaGo robot maintained by South China University of Technology PEMT Laboratory.

Topics

/bluetooth_teleop/joy
/camera/accel/imu_info
/camera/gyro/imu_info
/camera/imu
/camera/infra1/camera_info
/camera/infra1/image_rect_raw
/camera/infra2/camera_info
/camera/infra2/image_rect_raw
/camera/motion_module/parameter_descriptions
/camera/motion_module/parameter_updates
/camera/realsense2_camera_manager/bond
/camera/rgb_camera/parameter_descriptions
/camera/rgb_camera/parameter_updates
/camera/stereo_module/auto_exposure_roi/parameter_descriptions
/camera/stereo_module/auto_exposure_roi/parameter_updates
/camera/stereo_module/parameter_descriptions
/camera/stereo_module/parameter_updates
/cmd_lights
/cmd_vel
/diagnostics
/diagnostics_agg
/diagnostics_toplevel_state
/feedback
/imu/data
/imu/data_raw
/imu/mag
/imu_filter/parameter_descriptions
/imu_filter/parameter_updates
/joint_states
/mcu/cmd_fans
/mcu/cmd_lights
/mcu/status
/odometry/filtered
/ridgeback_velocity_controller/cmd_vel
/ridgeback_velocity_controller/odom
/rosout
/rosout_agg
/set_pose
/status
/tf
/tf_static
/twist_marker_server/feedback
/twist_marker_server/update
/twist_marker_server/update_full
/wifi_connected

Dependencies

• ros related

   sudo apt-get install ros-kinetic-joint-state-publisher-gui
  

• gazebo7 >= 7.4.0

  check version by gazebo --version.

  follow here to update to newest gazebo7 version. Problem after update: 1. fatal error: ignition/math/Inertial.hh: No such file or directory. fix: sudo apt-get install libignition-math2-dev

• realsense2 SDK and Realsense ROS

  SDK installation refer to this doc, ros package installation refer to here

• moveit-ros packages:

  sudo apt-get install ros-kinetic-moveit-ros-*
  sudo apt-get install ros-kinetic-moveit
  

• ridgeback packages:

  sudo apt-get install ros-kinetic-ridgeback*
  

• UR5 packages:

  sudo apt-get install ros-kinetic-ur-*
  sudo apt-get install ros-kinetic-ur5*
  

• td_ros:

  we add the td_ros directly by submodule.

• TdLib:

  modify all the TdLib_DIR in the CMakeLists.txt to your case.

Usage

create the workspace

mkdir ~/BetaGo_ws && cd ~/BetaGo_ws

clone this repositories and build

git clone --recursive git@github.com:TouchDeeper/BetaGo.git src/
catkin_make

Possible problem: 1.

 catkin_package() include dir 'include' does not exist relative to
   '[package_path]'

• solution: add include directory in the [package_path]

2. No rule to make target '/usr/lib/x86_64-linux-gnu/libproj.so
   • solution: sudo ln -s /usr/lib/x86_64-linux-gnu/libproj.so.9 /usr/lib/x86_64-linux-gnu/libproj.so

Simulation

• ur5 and allegro_hand are imported by environment variable RIDGEBACK_URDF_EXTRAS. RIDGEBACK_URDF_EXTRAS = your workspace path/src/betago_description/urdf/betago/ridgeback_urdf_extras.xacro

  • method1: set temporary environment variable:export RIDGEBACK_URDF_EXTRAS=~/BetaGo_ws/src/betago_description/urdf/betago/ridgeback_urdf_extras.xacro
  • method2: set permanent environment variable:
    1. terminal:sudo gedit ~/.bashrc
    2. add export RIDGEBACK_URDF_EXTRAS=~/BetaGo_ws/src/betago_description/urdf/betago/ridgeback_urdf_extras.xacro in the end.
    3. terminal:source ~/.bashrc

• Check if the model has been downloaded in ~/.Gazebo/, if not, you need to download the model first and put it in ~/.Gazebo/. Download link. For Chinese, download from rosclub.cn : link: http://pan.baidu.com/s/1pKaeg0F, password:cmxc

  • set GAZEBO_MODEL_PATH:
    1. terminal:sudo gedit ~/.bashrc
    2. add export GAZEBO_MODEL_PATH="/home/wang/.gazebo/models" in the end.
    3. terminal:source ~/.bashrc

Real robot

Step to connect to the ridgeback by wired connection

1. plug in the network cable to ridgeback's router, plug in the network cable to your pc.
2. start the ridgeback, then push the E-STOP to release the lock.
3. set the wired connection in your desktop, see the gif.
4. add the config in the below to your ~/.bashrc, and source ~/.bashrc. The 192.168.131.1 is keep the same when wired connection, this IP can also be specified by connecting a screen to ridgeback's computer, and type ifconfig -a, this IP is in the br0 item of output information. the 192.168.131.100 is also keep the same when wired connection, this IP can also be specified by typing ifconfig -ain your pc and is in the first item of output information.

   export ROS_MASTER_URI=http://192.168.131.1:11311 #Ethernet
   export ROS_IP=192.168.131.100
   

5.add the config 192.168.131.1 CPR-R100-0057in the below to your /etc/hosts, the location is after the line like 127.0.0.1 localhost 127.0.1.1 [your-computer-name] 6.rostopic list in your desktop to see if the topics in the ridgeback have been send to your desktop. If receive the topic, the connection is valid. 7. note that the wired connection will not bread the connection to the wifi, but ssh to ridgeback's computer by wireless IP will be broken.

Step to connect to the ridgeback by wireless network

1. connect the ridgeback's computer and your pc to the same Local Area Network.
2. get the IP of ridgeback by ifconfig -a in ridgeback's computer. The IP is in the wlp3s0 item, and the sentence is inet addr:[IP_ridgeback].
3. get the IP of your pc by 'ifconfig -a' in you pc. The IP is in the wlo1 item, and the sentence is inet addr:[IP_pc].
4. comment out the config code for wire connection. And add the config in the below to your ~/.bashrc, and source ~/.bashrc

   export ROS_MASTER_URI=http://[IP_ridgeback]:11311 #Ethernet
   export ROS_IP=[IP_pc]
   

5. add the config [IP_ridgeback] CPR-R100-0057in the below to your /etc/hosts, the location is after the line like

   127.0.0.1	localhost
   127.0.1.1	[your-computer-name]
   

6.rostopic list in your desktop to see if the topics in the ridgeback have been send to your desktop. If receive the topic, the connection is valid. 7. note!!!: after connection with ridgeback's computer, if your pc also need to run ros, comment out the content added in step 4 and 5 and re-source.

step to login the ridgeback's pc by ssh

1. ssh administrator@[IP_ridgeback]
2. If you want to open multi-terminal, but don't want to login too much user, you can use tmux to split screen.
   1. ssh to ridgeback's computer.
   2. install tmux by 'sudo apt-get install tmux'
   3. refer to here for tmux's usage.

Step to run the package

• ur5 and allegro_hand are imported by environment variable RIDGEBACK_URDF_EXTRAS. RIDGEBACK_URDF_EXTRAS = your workspace path/src/betago_description/urdf/betago/ridgeback_urdf_extras.xacro
  • method1: set temporary environment variable:export RIDGEBACK_URDF_EXTRAS=your workspace path/src/betago_description/urdf/betago/ridgeback_urdf_extras.xacro
  • method2: set permanent environment variable:
    1. terminal:sudo gedit ~/.bashrc
    2. add export RIDGEBACK_URDF_EXTRAS="your workspace path/src/betago_description/urdf/betago/ridgeback_urdf_extras.xacro" in the end.
    3. terminal:source ~/.bashrc

File explanation

None

Notes

None

4. Citation

If you use this package for your research, a footnote with the link to this repository is appreciated: github.com/TouchDeeper/BetaGo, or for citation with BibTeX:

@misc{ztd2021BetaGo,
  title={BetaGo: a dual_arm moblie robot simulation platform with multiple-sensor based on ROS.},
  author={Tingda Zhuang},
  howpublished={\url{https://github.com/TouchDeeper/BetaGo}},
  year={2021}
}