This repo contains the first pilot prepared by the URJC. It is composed of several elements that are explained below:
This module contains the components that control the robot's mission during the pilot. We have used BICA components to generate the robot's behavior.
A BICA component is a ROS2 lifecycle node that can activate another BICA component by merely declaring it as a dependency. Besides, each BICA component can use behavior trees to implement its behavior, being able to declare the dependencies on each behavior tree leaf. In this way, we can have hierarchical behavior trees.
In this pilot, the mission controller uses a behavior tree to sequence the phases of the test. In some stages, the robot is made to navigate, and in others, it starts a dialogue. As the dialogs are also composed of several stages, other BICA components have been used to implement it, activated from a leaf of the mission tree's behavior tree.
The dialogue system can use both the robot's audio and tablet to communicate with a human. The selection of the communication mode is carried out using the hri_mode parameter. If the hri_mode parameter is "audio" the audio is used. If the hri_mode parameter is "tablet", the robot tablet is used.
The dialogue system uses a distributed graph that is used in BICA for many tasks. When a "say: XXX" arc is added between the robot and the person, the robot says XXX. If the arc is "ask: YYY", a dialogue takes place until YYY finds out.
This module contains a ROS node that simulates the contingencies in the specifications of this pilot. Besides, it is responsible for asking the mode-manager to change the system mode. This node presents a simple menu in which a contingency can be activated, and when it ends. The module also contains the configuration of the pilot system modes.
The modes are:
- Normal.
- Low_Battery: The robot is running out of battery. The robot must slow down the speed, and bt_modes_navigator informs the operator about this contingency.
- Obstructed: The robot finds an obstacle, and it can't find an alternative path. The robot informs the operator about this contingency.
- Lost: The localization information has degraded. The robot runs recovery behaviors.
- Network_Down: Network is down, so the dialog must be carried out using the tablet instead of DialogFlow, which requires a network connection.
The modes change next parameters in the components (shown in the figure), with some effects:
- bt_modes_navigator [bt_xml_file]: bt_modes_navigator changes in runtime the behavior tree to adapt to the current situation. In mode obstructed, the behavior tree only contains an action leaf to contact the operator. In mode Low_Battery, the behavior tree also includes an action leaf to contact the operator. In mode Lost, the behavior Tree only contains activations of recovery behaviors.
- Controller [max_vel]: Each mode defines an adequate speed.
- HRI Controller [hri_mode]: This parameter selects if the communication must be carried out using the tablet, or the audio.
We will use vcs-tool to get the dependencies and packages. We assume that you have a ros2 workspace ([ros2_ws]), if you don't have one, just create it with:
source /opt/ros/foxy/setup.bash
mkdir -p [path-to-your-ros2-ws]/srcFetch, build and install navigation2 stack:
cd [ros2_ws]/src
git clone https://github.com/MROS-RobMoSys-ITP/Pilot-URJC.git
vcs import < Pilot-URJC/dependencies.repos
cd ..
rosdep install -y -r -q --from-paths src --ignore-src --rosdistro foxy
colcon build --symlink-install
NOTE: if the compilation fails because of it could not find some packages run again
rosdep install -y -r -q --from-paths src --ignore-src --rosdistro foxy
Turtlebot3 is one of tests platforms. Ignore this if you are not using it. Fetch, build and install turtlebot3 packages:
cd [ros2_ws]/src
vcs import < Pilot-URJC/turtlebot3.repos
cd ..
rosdep install -y -r -q --from-paths src --ignore-src --rosdistro foxy
colcon build --symlink-installThis pilot has been tested on different platforms. Above we show how to run the demo in each one.
- Make sure that the navigation, localization and map-server are switched off in the robot before start the demo.
- The shell windows that will launch the ros1_bridge and the ros1 components needs a correct network configuration, setting the ROS_IP and ROS_MASTER_URI environment variables.
- We have used rmw_cyclonedds_cpp as RMW_IMPLEMENTATION for the tests.
: To launch the demo in real TIAGo we have to use the ros1_bridge package, at this moment TIAGo drivers are not migrated to ROS2.
ros2 run ros1_bridge dynamic_bridge __log_disable_rosout:=true
- nav2-TIAGo-support: The integration of the nav2 and TIAGo through the ros1_bridge needs two tools to fix some issues.
rosrun tf_static_resender tf_static_resender
rosrun cmd_vel_mux cmd_vel_mux_node
- A dummy metacontroller: With this tool, you can simulate different contingency scenarios.
ros2 run metacontroller_pilot metacontroller
- Demo launcher: This launcher includes rviz, nav2, amcl, map-server, system-modes, etc. The system-modes mode-manager takes the modes description from params/pilot_modes.yaml.
ros2 launch pilot_urjc_bringup nav2_tiago_launch.py
-
Launch turtlebot3 world in gazebo sim
export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:[ros2_ws]/src/turtlebot3/turtlebot3_simulations/turtlebot3_gazebo/models export TURTLEBOT3_MODEL=${TB3_MODEL} ros2 launch pilot_urjc_bringup tb3_sim_launch.py
-
Demo launcher
This launcher includes rviz, nav2, amcl, map-server, system-modes, etc. The system_modes mode_manager takes the modes description from
params/pilot_modes.yaml.export TURTLEBOT3_MODEL=${TB3_MODEL} ros2 launch pilot_urjc_bringup nav2_turtlebot3_launch.py
-
A dummy metacontroller
With this tool, you can simulate different contingency scenarios.
ros2 run metacontroller_pilot metacontroller
- Turtlebot ROS1 Gazebo simulator:
Launch the turtlebot2 simulator and its sensors. If you don't have a launcher to do this, you can find an example here
ros2 launch gb_robots sim_house.launch
ros2 launch nav2_bringup nav2_tb3_system_modes_sim_launch.py
- nav2-TIAGo-support: The integration of the nav2 and turtlebot2 through the ros1_bridge needs one tools to fix some issues.
rosrun tf_static_resender tf_static_resender
- A dummy metacontroller: With this tool, you can simulate different contingency scenarios.
ros2 run metacontroller_pilot metacontroller
- Demo launcher: This launcher includes rviz, nav2, amcl, map-server, system-modes, etc. The system-modes mode-manager takes the modes description from params/pilot_modes.yaml.
ros2 launch pilot_urjc_bringup nav2_turtlebot2_launch.py
sudo apt-get install ros-eloquent-eigen*
cd [ros2_ws]/src
git clone https://github.com/MROS-RobMoSys-ITP/Pilot-URJC.git
vcs import src < Pilot-URJC/dependencies_kobuki.repos # if you did vcs import of dependencies.repos before, you have to comment Behavior Tree and navigation2 in the dependencies_kobuki.repos file before do this vcs import.
cd ..
colcon build --symlink-install
- Add the map of the scenario in the Pilot-URJC/pilot_kobuki/map.
- Add a little modification in navigation2/nav2_bringup/bringup/launch/nav2_bringup_launch.py:
kobuki_dir = get_package_share_directory('pilot_kobuki')
declare_map_yaml_cmd = DeclareLaunchArgument(
'map',
default_value=os.path.join(kobuki_dir, 'map', 'map_name.yaml'),
description='Full path to map yaml file to load')
- Set base_frame_id value in navigation2/nav2_bringup/bringup/params/nav2_params.yaml:
base_frame_id: "base_link"
source [ros2_ws]/install/setup.bash
ros2 launch pilot_kobuki kobuki2.launch.py
In the TIAGO_specifications.pdf of this repository you can find a full description of the TIAGo robot.
To install ROS (Melodic version), all the full documentation and steps to do during this proccess are in the next page: