iot-magi/gopigo3_navigation

Lidar based ROS navigation for GoPiGo3

How to run ROS navigation stack on GoPiGo3

Introduction

This repository explains the way to mount a low cost lidar sensor on GoPiGo3 and run the ROS navigation stack with it.

Setup instructions

1. Hardware setup
   1. Setup GoPiGo3
   2. Add power supply circuit
   3. Set up USB connection
   4. Mount Lidar unit to GoPiGo3
2. Software setup
   1. Notebook PC setup
      1. Install ROS
      2. ros network configration
      3. Install Packages
      4. ROS Package Build
      5. NTP setup
   2. GoPiGo setup
      1. Install ROS
      2. ros network configration
      3. Install Packages
      4. ROS Package Build
      5. NTP setup
3. Execution method

Requirement

Hardware requirement

• GoPiGo3 + Raspberry Pi3
• Notebook PC
• LIDAR X4 (YDLIDAR)
• 5V output dc-dc converter board (< 2A)
• self power USB hub
• 11.1V LiPo battery (not mandatory, original dry cell battery can be used)

Operating System Requirement

• OS : Ubuntu 16.04 (Xenial) for Notebook PC
• OS : Ubuntu mate 16.04 for GoPiGo3

Result

Robot

Run Result

Hardware setup

Setup GoPiGo3

Assenble GoPiGo3 from parts

Add power supply circuit

Battery -> dc-dc converter -> USB Hub power socket

Set up USB connection

Lidar -> serial-USB converter board (comes with Lidar) -> USB Hub -> Raspberry Pi

Mount Lidar unit to GoPiGo3

Notebook PC setup

Install ROS to Note book PC

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list
sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
sudo apt-get update
sudo apt-get install ros-kinetic-desktop
sudo rosdep init
rosdep update
echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
source ~/.bashrc
sudo apt-get install python-rosinstall

Create Catkin Workspace on Notebook PC

mkdir -p ~/catkin_ws/src  
cd ~/catkin_ws/src  
catkin_init_workspace  
cd ~/catkin_ws/  
catkin_make  
echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc

ROS network configuration for Notebook PC

export ROS_MASTER_URI=http://<IP Adress of Notebook PC>:11311
export ROS_IP=<IP Adress of Notebook PC>

Install ROS Packages to Notebook PC

sudo apt-get install ros-kinetic-navigation
sudo apt-get install ros-kinetic-gmapping

Install gopigo3_navigation package

cd ~/catkin/src/
git clone https://github.com/iot-magi/gopigo3_navigation.git

Build ROS Package on Notebook PC

cd ~/catkin/
catkin_make

NTP setup on Notebook PC

Install ntp

sudo apt-get install ntp

ntp configration

# /etc/ntp.conf

# write file top
tinker panic 0

server (server name) iburst

GoPiGo3 setup

Install ROS to GoPiGo3

Install ROS to GoPiGo3

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list
sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
sudo apt-get update
sudo apt-get install ros-kinetic-desktop
sudo rosdep init
rosdep update
echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
source ~/.bashrc
sudo apt-get install python-rosinstall

Make Workspace on GoPiGo3

mkdir -p ~/catkin_ws/src  
cd ~/catkin_ws/src  
catkin_init_workspace  
cd ~/catkin_ws/  
catkin_make  
echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc

ROS network configuration of GoPiGo3

export ROS_MASTER_URI=http://<IP Adress of Notebook PC>:11311
export ROS_IP=<IP Adress of GoPiGo3>

Install gopigo3_node to GoPiGO3

Note: Please see gopigo3_node for more informagiton.

cd ~/catkin/src/
git clone https://github.com/ros-gopigo/gopigo3_node.git

rerwite gopigo3_driver.py

# gopigo3_node/src/gopigo3_driver.py

line 106 "odometry" -> "odom"
line 259    world -> odom    
line 259 gopigo -> base_link

Setup ydlidar package to GoPiGo3

Note: Please see ydlidar for more informagiton.

# ydlidar package clone
cd ~/catkin/src/
git clone https://github.com/EAIBOT/ydlidar.git

Install ydlidar driver

# ydliar driver setup
cd ydlidar/startup
sudo chmod 777 ./*
sudo sh initenv.sh

Make nav_lidar.launch

# ydlidar/launch/nav_lidar.launch

<launch>
  <node name="ydlidar_node"  pkg="ydlidar"  type="ydlidar_node" output="screen" respawn="false" >
    <param name="port"         type="string" value="/dev/ydlidar"/>  
    <param name="baudrate"     type="int"    value="115200"/>
    <param name="frame_id"     type="string" value="lidar"/>
    <param name="low_exposure"  type="bool"   value="false"/>
    <param name="resolution_fixed"    type="bool"   value="true"/>
    <param name="auto_reconnect"    type="bool"   value="true"/>
    <param name="reversion"    type="bool"   value="false"/>
    <param name="angle_min"    type="double" value="-180" />
    <param name="angle_max"    type="double" value="180" />
    <param name="range_min"    type="double" value="0.1" />
    <param name="range_max"    type="double" value="16.0" />
    <param name="ignore_array" type="string" value="" />
    <param name="samp_rate"    type="int"    value="9"/>
    <param name="frequency"    type="double" value="7"/>
  </node>
</launch>

ROS Package Build on GoPiGo3

cd ~/catkin/
catkin_make

NTP setup on GoPiGo3

Install ntpdate

sudo apt-get install ntpdate

Run ntpdate

ntpdate (server name)

Install ntp

sudo apt-get install ntp

ntp configration

# /etc/ntp.conf

# write file top
tinker panic 0

server (server name) iburst

Execution

Run gopigo3_navigation on Notebook PC

If you want to use rviz, you can run the following command.

roslaunch gopigo3_navigation navigation_view.launch

If you want to run navigation stack by program, you can run the following command.

roslaunch gopigo3_navigation navigation.launch

Run launch file on GoPiGo3

Run gopigo3_node

roslaunch gopigo3_node gopigo3.launch

Run ydlidar
Note: Run this launch file on another terminal.

roslaunch ydlidar nav_lidar.launch

License

Copyright (c) 2018, Tokyo Univercity of Technology