A repository for a 6-wheel rocker bogie rover, based on Robotic Operative System ROS and python to control its perception and action systems. This repository contents:
- Nvidia Jetson TK1: Lib
- Ion Motion Roboclaw, Dual DC motor driver: Lib
- Pololu USB servo Control: POL-1353
- Logitech Wireless Gamepad F710
- PC host running Ubuntu
- Python 2.7.15
- Rviz from ROS
- ROS Kinetic for Ubuntu 16.04 or Indigo for Ubuntu 14.04 on user PC.
- ROS Indigo for Ubuntu 14.04 (armhf) on Jetson TK1.
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 777 /dev/tty_roboclaw
sudo chmod 777 /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
nano .bashrc
source /opt/ros/indigo/setup.bash
function arm {
sudo chmod 777 /dev/tty_pololu
python /home/ubuntu/Desktop/Mercury/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 ~/Desktop/Mercury/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 /home/ubuntu/Desktop/Mercury/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 - The joystick will be referred to by jsX:
ls /dev/input - 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_nodeTo 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
}
- Nickson Garcia H. - ([email protected])
- Cristian Molina H. - ([email protected])
- Harold F. Murcia. - ([email protected] )