A repository for a 6-wheel rocker bogie rover, based on Robotic Operative System ROS and Python to control the perception and action systems.
- Watch the YouTube video here
This repository contents:
- Source codes
- Dev scripts
- Data files
/your_root - path
|--Readme / Instructions to use the AlphaROVER
|--src / scripts for the system
|--alpha_pc / scripts to launch the control of the system
|--arm.py
|--maestro.py
|--com.py
|--control_mode.py
|--ekf.py
|--ipmailer.py
|--laser_on.py
|--leds_on.py
|--lights_off.py
|--manual_mode.py
|--rc.local
|--roboclaw_ros / modified from: https://github.com/sonyccd/roboclaw_ros.git
|--LICENCE.md
|--README.md
|--roboclaw_node
|--user_pc
|--cam_bridge.py
|--data
|--mechanics
|--alpha_full.pdf
|--inventor_files
|--photos
|--electronics
|--diagrams
|--proteus_files
- Nvidia Jetson TK1 or PC with Linux
- Ion Motion Roboclaw, Dual DC motor driver
- Pololu USB servo Control [POL-1353]
- Logitech Wireless Gamepad F710
- PC host running Ubuntu
- AlphaROVER platform
- ROS Kinetic for Ubuntu 16.04 or ROS Indigo for Ubuntu 14.04 on user PC .
- Python 2.7.15
- RVIZ from ROS
- ROS Indigo for Ubuntu 14.04 (armhf) on Jetson TK1
- OpenCV
- Modified node xsens_mti_ros_node available here.
The following steps describe how to configure the Jetson TK1.
- Install ROS
- Install nano:
sudo apt-get install nano - Install Git:
sudo apt-get install git-core - Install Hamachi
- Remove sudo pass:
sudo visudo
# Members of the admin group may gain root privileges
%admin ALL=(ALL) ALL
# Allow members of group sudo to execute any command
%sudo ALL=(ALL:ALL) ALL
And replace those lines for these:
# Members of the admin group may gain root privileges
%admin ALL=(ALL) NOPASSWD: ALL
# Allow members of group sudo to execute any command
%sudo ALL=(ALL:ALL) NOPASSWD: ALL
- USB Rules
Look for your USB devices info:
udevadm info -a -n /dev/ttyUSB1 | grepCreate this file with your idVendor and idProduct info:sudo nano /etc/udev/rules.d/99-robot.rules
SUBSYSTEM=="tty", ATTRS{idVendor}=="03eb", ATTRS{idProduct}=="2404", SYMLINK+="tty_roboclaw"
SUBSYSTEM=="tty", ATTRS{idVendor}=="0424", ATTRS{idProduct}=="9514", SYMLINK+="tty_pololu"
Save and run:
sudo udevadm trigger
sudo chmod 666 /dev/tty_roboclaw
sudo chmod 666 /dev/tty_pololu
-
Plug in the USB camera and check if it was recognized by system:
lsusbls /dev | grep video* -
Install usb_cam ROS node:
sudo apt install ros-indigo-usb-cam -
Start usb_cam node on slave:
roslaunch usb_cam usb_cam-test.launch -
You can read camera data with image_view:
rosrun image_view image_view image:=/usb_cam/image_raw -
For web streaming install web-video-server ROS node:
sudo apt install ros-indigo-web-video-server -
Create catkin workspace:
mkdir -p ~/rosvid_ws/srccd ~/rosvid_wscatkin_makesource devel/setup.bash -
Then create ROS package:
cd srccatkin_create_pkg vidsrv std_msgs rospy roscpp -
Create a launch file:
mkdir -p vidsrv/launchnano vidsrv/launch/vidsrv.launch
And place this code on it:
<launch>
<!-- This node description you can take from usb_cam-test.launch -->
<node name="usb_cam" pkg="usb_cam" type="usb_cam_node" output="screen" >
<param name="video_device" value="/dev/video0" />
<param name="image_width" value="640" />
<param name="image_height" value="480" />
<param name="pixel_format" value="yuyv" />
<param name="camera_frame_id" value="usb_cam" />
<param name="io_method" value="mmap"/>
</node>
<!-- This node will launch web video server -->
<node name="web_video_server" pkg="web_video_server" type="web_video_server" />
</launch>
- Build package:
cd ..catkin_make - And run created launch file:
roslaunch vidsrv vidsrv.launch - Now open URL in web browser: {Jetson_IP}:8080
Notes/
- Paths and code of roboclaw_node.py must be updated according to the pc installation.
~/AlphaROVER/src/alpha_pc/rc.localmust be located on/etcfolder.
nano .bashrc
source /opt/ros/indigo/setup.bash
function arm {
sudo chmod 777 /dev/tty_pololu
python ~/AlphaROVER/src/alpha_pc/arm.py
sleep 1
echo $"Arm OK..."
}
function exportar {
export ROS_IP = {JetsonIP}
export ROS_MASTER_URI = http://{pcIP}:11311
}
# If want to connect through hamachi
function exportar_hamachi {
export ROS_IP = {JetsonHamachiIP}
export ROS_MASTER_URI=http://{pcHamachiIP}:11311
}
#Launch main webcam
function webcam {
roslaunch usb_cam usb_cam-test.launch &
sleep 5
echo $"Main camera ready..."
}
function run {
sudo chmod 777 /dev/tty_roboclaw
source /home/ubuntu/rbcw_ws/devel/setup.bash
roslaunch roboclaw_node roboclaw.launch &
sleep 3
echo $"Run Launched"
}
function kinect {
roslaunch freenect_launch freenect.launch
}
function ekf {
python ~/AlphaROVER/src/alpha_pc/ekf.py
}
function imu_node {
sudo chmod 777 /dev/ttyUSB0
source /home/ubuntu/xsens_ws/devel/setup.bash
roslaunch xsens_driver xsens.launch
}
# Main function
function rover {
roscore &
sleep 4
piloto &
echo $"Launched piloto"
sleep 2
run &
sleep 2
echo $"Ready..."
}
sudo python ~/AlphaROVER/src/alpha_pc/bash_config.py
- Install ros according to your ubuntu version, in this case Ubuntu 16.04.
- Install hamachi and haguichi.
-
Install the package:
sudo apt-get install ros-kinetic-joy -
Connect the joystick to your computer and let's see if Linux recognized it:
ls /dev/input/ -
The joystick will be referred to by jsX, you can test it by running:
sudo jstest /dev/input/jsXMove the joystick around to see the data change. -
Give permissions on the joystick port:
sudo chmod a+rw /dev/input/jsX -
To start the joy node:
roscorerosparam set joy_node/dev "/dev/input/jsX"rosrun joy joy_node
To see the data from the joystick:
rostopic echo joy
source /opt/ros/kinetic/setup.bash
function pilot
{
ls -l /dev/input/jsX
sudo chmod a+rw /dev/input/jsX
rosparam set joy_node/dev "/dev/input/jsX"
rosrun joy joy_node &
}
# If want to connect through hamachi
function exportar_hamachi
{
export ROS_IP = {pcIP}
}
function exportar
{
export ROS_IP = {pcIP}
}
# To access Jetson webcam image
function webcam
{
python ~/cam_bridge.py
}
Universidad de Ibagué - Ingeniería Electrónica. Proyecto de Grado 2019/A