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MOBO_BOT_BASE_README.md

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Working with the Physical MoboBot

Note

MoboBot uses RaspberryPi 4B microcomputer running Ubuntu 22.04 and ros-humble-base. You can follow this tutorial to install ros-humble-base on RaspberryPi 4B with colcon and rosdep

mobo_bot_amcl

Prerequisite Dependencies

  • install the libserial-dev package on the Raspberry Pi 4b machine 
    sudo apt-get update
sudo apt install libserial-dev
  • install cyclone DDS (if you have not) on the Raspberry Pi 4b machine 
    sudo apt install ros-humble-rmw-cyclonedds-cpp
export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
echo "export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp" >> ~/.bashrc
  • install opencv on the Raspberry Pi 4b machine 
    sudo apt install libopencv-dev python3-opencv
pip3 install opencv-python

Create ROS Workspace And Download and Setup Necessary Packages

  • create your <ros_ws> in the home dir. (replace <ros_ws> with your workspace name)

    mkdir -p ~/<ros_ws>/src
cd ~/<ros_ws>
colcon build
source ~/<ros_ws>/install/setup.bash

  • cd into the src folder of your <ros_ws> and download the mobo_bot packages

    cd ~/<ros_ws>/src
git clone -b humble https://github.com/robocre8/mobo_bot.git

  • cd into the mobo_bot/mobo_bot_sim folder and add a COLCON_IGNORE file to the mobo_bot_sim package to prevent runnig simulation on the Raspberry Pi.

    cd ~/<ros_ws>/src/mobo_bot/mobo_bot_sim
touch COLCON_IGNORE

  • cd into the mobo_bot/mobo_bot_rviz folder and add a COLCON_IGNORE file to the mobo_bot_rviz package to prevent running rviz visualization on the Raspberry Pi.

    cd ~/<ros_ws>/src/mobo_bot/mobo_bot_rviz
touch COLCON_IGNORE

  • cd into the mobo_bot/mobo_bot_teleop folder and add a COLCON_IGNORE file to the mobo_bot_teleop package to prevent running teleop on the Raspberry Pi.

    cd ~/<ros_ws>/src/mobo_bot/mobo_bot_teleop
touch COLCON_IGNORE

  • go back to the src folder of your <ros_ws> and download and setup the epmc_harware_interface ros2 package for the L298N EPMC MODULE

    cd ~/<ros_ws>/src
git clone -b humble https://github.com/robocre8/epmc_hardware_interface.git

  • go back to the src folder of your <ros_ws> and download and setup the eimu_ros ros2 package for the MPU9250 EIMU MODULE

    cd ~/<ros_ws>/src
git clone -b humble https://github.com/robocre8/eimu_ros.git

  • install rplidar_ros binary package

    sudo apt install ros-humble-rplidar-ros

  • go back to the src folder of your <ros_ws> and download the opencv_ros_camera package, from robocre8, for working with the USB camera

    cd ~/<ros_ws>/src
git clone -b humble https://github.com/robocre8/opencv_ros_camera.git

  • cd into the root directory of your <ros_ws> and run rosdep to install all necessary ros package dependencies 
    cd ~/<ros_ws>/
rosdep install --from-paths src --ignore-src -r -y

Check EPMC (L298N EPMC MODULE), EIMU (MPU9250 EIMU MODULE), RPLIDAR_A1 AND USB Camera PORTS

  • check the serial port the connected sensors and motor controller

    The best way to select the right serial port (if you are using multiple serial device) is to select by path

    ls /dev/serial/by-path

    you should see a (if the module is connected and seen by the computer), your serial port would be -> /dev/serial/by-path/. for more info visit this tutorial from ArticulatedRobotics

    for the EPMC (i.e L298N EPMC MODULE), go to the mobo_bot/mobo_bot_description/urdf/epmc_ros2_control.xacro file and change the port parameter to the port value gotten

    for the EIMU (i.e MPU9250 EIMU MODULE), go to the mobo_bot/mobo_bot_base/eimu_ros_start_params.yaml file and change the port parameter to the port value gotten. you can also change the publish_frequency to maybe 20Hz

    for the Lidar, go to the mobo_bot/mobo_bot_base/launch/robot.launch.py file and change the serial_port parameter for the lidar Node to the port value gotten.

    lidar_node = Node(
    package='rplidar_ros',
    executable='rplidar_node',
    name='rplidar_node',
    parameters=[{'channel_type': 'serial',
                  'serial_port': '/dev/serial/by-path/platform-fd500000.pcie-pci-0000:01:00.0-usb-0:1.1.2:1.0-port0',
                  'serial_baudrate': 115200,
                  'frame_id': 'lidar',
                  'inverted': False,
                  'angle_compensate': True,
                  'scan_mode': 'Sensitivity'}
                  ],
    condition=IfCondition(use_lidar),
    remappings=[("/scan", "/lidar/scan")],
    output='screen'
)

    for the USB Camera, the video port no, which is by default 0, and every other should be okay.
    But if you still intend to adjust anything, go to the mobo_bot/mobo_bot_base/launch/robot.launch.py file to change any of the camera parameters

    camera_node = Node(
    package='opencv_ros_camera',
    executable='camera_publisher',
    name='camera_publisher',
    output='screen',
    parameters=[{'frame_id': "camera_optical",
                  'port_no': 0,
                  'frame_width': 320,
                  'frame_height': 240,
                  'compression_format': "jpeg", # you can also use "jpeg"
                  'publish_frequency': 30.0}
                ],
    condition=IfCondition(use_camera),
)

Build The MoboBot Packages and the Different Hardware Packages

  • build your <ros_ws>

    cd ~/<ros_ws>/
colcon build --symlink-install

  • don't forget to source your <ros_ws> in any new terminal

    source ~/<ros_ws>/install/setup.bash

Note

You can further edit the parameters of the .yaml files in the mobo_bot_base package config folders

Clone and Build The MoboBot packages on your dev-PC connected (via ssh) to the Raspberry PI on the MoboBot robot

  • pls follow the mobo_bot_sim tutorial for dev-PC
  • you'll be using the mobo_bot_rviz package on your dev-PC to visualize the robot.

Test the MoboBot Hardware and Sensors

Run all these tests to check if any sensor or hardware gives any error.

  • to test the EPMC Motor Controller (and the rsp with base control), run the following 
    ros2 launch mobo_bot_hw_test epmc_test.launch.py
  • to test the EIMU Module, run the following 
    ros2 launch mobo_bot_hw_test eimu_test.launch.py
  • to test the Lidar, run the following 
    ros2 launch mobo_bot_hw_test lidar_test.launch.py
  • to test the USB Camera, run the following 
    ros2 launch mobo_bot_hw_test camera_test.launch.py

Note

If any error occurs, first unplug the lidar (from the USB HUB) and plug it back then unplug the USB HUB from the Raspberry Pi Port and plug it back. Everything should now work.

Run the Physical MoboBot

mobo_bot_base_drive

  • on the Raspberry Pi 4b, open a new terminal and start the mobo_bot_base 
    source ~/<ros_ws>/install/setup.bash
ros2 launch mobo_bot_base robot.launch.py

Note

If any error occurs, first unplug the lidar (from the USB HUB) and plug it back then unplug the USB HUB from the Raspberry Pi Port and plug it back. Everything should now work. launch the mobo_bot_base again

  • on Your dev-PC, open a new terminal and start the mobo_bot_rviz by running 
    source ~/<ros_ws>/install/setup.bash
ros2 launch mobo_bot_rviz robot.launch.py

You should now see the robot visuals on your dev-PC

Drive the MoboBot with a special arrowkey teleop

  • on your Dev PC, in a different terminal, run the mobo_bot_teleop to drive the robot around using the arrow keys on your keyboard 
    source ~/<ros_ws>/install/setup.bash
ros2 run mobo_bot_teleop mobo_bot_teleop
    OR 
    source ~/<ros_ws>/install/setup.bash
ros2 run mobo_bot_teleop mobo_bot_teleop <v in m/s> <w in rad/sec>