https://github.com/matham/robo_nav
Cornell MAE6710 Fa2018 project
https://github.com/matham/robo_nav
Last synced: about 1 year ago
JSON representation
Cornell MAE6710 Fa2018 project
- Host: GitHub
- URL: https://github.com/matham/robo_nav
- Owner: matham
- License: bsd-3-clause
- Created: 2018-11-08T02:23:33.000Z (over 7 years ago)
- Default Branch: master
- Last Pushed: 2018-12-14T22:09:30.000Z (over 7 years ago)
- Last Synced: 2025-02-15T04:26:11.762Z (over 1 year ago)
- Language: C++
- Size: 30.5 MB
- Stars: 1
- Watchers: 4
- Forks: 1
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
Awesome Lists containing this project
README
Robo Nav project MEA something
===================================
Tested on kinetic
To Install
-----------
```sh
cd ~
mkdir -p catkin_ws_robo/src
cd catkin_ws_robo/src
git clone https://github.com/matham/robo_nav.git
git clone https://github.com/matham/people.git
git clone https://github.com/marinaKollmitz/lattice_planner.git
git clone https://github.com/marinaKollmitz/human_aware_navigation.git
git clone https://github.com/marinaKollmitz/timed_path_follower.git
git clone https://github.com/DLu/wu_ros_tools.git
cd ..
rosdep update
rosdep install --from-paths src -i
catkin_make
```
Update Gazebo
--------------
Follow the instructions here to install the latest version Gazebo 7:
http://gazebosim.org/tutorials?cat=install&tut=install_ubuntu&ver=7.0#Alternativeinstallation:step-by-step
To enable the VM to use the graphics card:
```sh
echo "export SVGA_VGPU10=0" >> ~/.bashrc
source ~/.bashrc
```
To run
------------
To start gazebo with a world, in one terminal start ros with
```sh
source devel/setup.bash
roslaunch ca_gazebo create_2.launch
```
Or if you'll be using the turtle world run
```sh
export ROBOT_INITIAL_POSE="-x 6.0 -y -5.0 -z 0.0"
export TURTLEBOT_GAZEBO_WORLD_FILE=/opt/ros/kinetic/share/turtlebot_gazebo/worlds/playground.world
roslaunch turtlebot_gazebo turtlebot_world.launch
```
To start the navigation system, in another terminal do
```sh
source devel/setup.bash
roslaunch human_aware_nav_launch navigation.launch
```
To make the robot move manually, in another terminal run
```sh
source devel/setup.bash
rostopic pub -r 10 /cmd_vel geometry_msgs/Twist '{linear: {x: 0.1, y: 0.0, z: 0.0}, angular: {x: 0.0,y: 0.0,z: 0.0}}'
```
or to run the project code run in a second terminal to see the robot move
```sh
source devel/setup.bash
rosrun ca_robo_nav main.py
```
The main project code is in `catkin_ws_robo/src/robo_nav/ca_robo_nav/src/`.
# create_autonomy
[ROS](http://ros.org) driver for iRobot [Create 1 and 2](http://www.irobot.com/About-iRobot/STEM/Create-2.aspx).
This package wraps the C++ library [libcreate][libcreate], which uses iRobot's [Open Interface Specification][oi_spec].
* ROS wiki page: http://wiki.ros.org/create_autonomy
* Support: [ROS Answers (tag: create_autonomy)](http://answers.ros.org/questions/scope:all/sort:activity-desc/tags:create_autonomy/page:1/)
* Author: [Jacob Perron](http://jacobperron.ca) ([Autonomy Lab](http://autonomylab.org), [Simon Fraser University](http://www.sfu.ca))
## Build Status
TravisCI (Ubuntu _Trusty_, ROS _Indigo_ and _Jade_)
## Supported Robots
| Model | Support |
|-----------|------------|
| Create 1 | Yes |
| Create 2 _(firmware >= 3.2.6)_ | Yes |
| Roomba Original Series | No |
| Roomba 400 Series | Yes |
| Roomba 500 Series | Yes * |
| Roomba 600 Series | Yes * |
| Roomba 700 Series | Yes + |
| Roomba 800 Series | Yes + |
| Roomba 900 Series | No * |
_+ Verified by third-party. Please note [Odometry Issue #28](https://github.com/AutonomyLab/create_autonomy/issues/32)_
_* Not verified. Anyone who is able to verify that this driver works or not is encouraged to contact [Jacob](https://jacobperron.ca) with their findings or open an issue._
## Features
| Feature | Status |
|-------------------|---------------|
| Odometry | Available |
| Safe mode | Planned [#13](https://github.com/AutonomyLab/create_autonomy/issues/13) |
| Clean demo | Planned [#14](https://github.com/AutonomyLab/create_autonomy/issues/14) |
| Dock demo | Available |
| Drive wheels | N/A |
| Drive (v,w) | Available |
| Brush motors | Planned [#15](https://github.com/AutonomyLab/create_autonomy/issues/15) |
| LEDs | Available |
| Digit LEDs | Available |
| Sound | Available |
| Wheeldrop | Available |
| Bumpers | Available |
| Cliff sensor | Planned [#22](https://github.com/AutonomyLab/create_autonomy/issues/22) |
| Dirt detect | N/A |
| Omni IR sensor | Available |
| Left IR sensor | N/A |
| Right IR sensor | N/A |
| Battery info | Available |
| Light sensors | Available |
| **_Diagnostics_** | |
| Corrupt packets | Planned |
| Physical tests | Planned |
| Overcurrent info | Planned |
## Install
#### Prerequisites
* Internet connection
* [ROS](http://wiki.ros.org/ROS/Installation) _Indigo_ or _Jade_
* Ubuntu packages: `python-rosdep`, `python-catkin-tools`
``` bash
$ sudo apt-get install python-rosdep python-catkin-tools
```
#### Compiling
1. Create a catkin workspace
``` bash
$ cd ~
$ mkdir -p create_ws/src
$ cd create_ws
$ catkin init
```
2. Clone this repo
``` bash
$ cd ~/create_ws/src
$ git clone https://github.com/AutonomyLab/create_autonomy.git
```
3. Install dependencies
``` bash
$ cd ~/create_ws
$ rosdep update
$ rosdep install --from-paths src -i
```
4. Build
``` bash
$ cd ~/create_ws
$ catkin build
```
#### USB Permissions
5. In order to connect to Create over USB, ensure your user is in the dialout group
``` bash
$ sudo usermod -a -G dialout $USER
```
6. Logout and login for permission to take effect
## Running the driver
### Setup
1. After compiling from source, don't forget to source your workspace:
``` bash
$ source ~/create_ws/devel/setup.bash
```
2. Connect computer to Create's 7-pin serial port
- If using Create 1, ensure that nothing is connected to Create's DB-25 port
3. Launch one of the existing launch files or adapt them to create your own.
### Launch files
For Create 2 (Roomba 600/700 series):
``` bash
$ roslaunch ca_driver create_2.launch
```
For Create 1 (Roomba 500 series):
``` bash
$ roslaunch ca_driver create_1.launch
```
For Roomba 400 series:
``` bash
$ roslaunch ca_driver roomba_400.launch
```
For Create 2 Gazebo simulation:
``` bash
$ roslaunch ca_gazebo create_2.launch
```
#### Launch file arguments
* **config** - Absolute path to a configuration file (YAML). Default: `ca_driver/config/default.yaml`
* **desc** - Enable robot description (URDF/mesh). Default: `true`
For example, if you would like to disable the robot description and provide a custom configuration file:
```bash
$ roslaunch ca_driver create_2.launch config:=/abs/path/to/config.yaml desc:=false
```
### Parameters
Name | Description | Default
--------------|--------------|----------
`dev` | Device path of robot | `/dev/ttyUSB0`
`base_frame` | The robot's base frame ID | `base_footprint`
`odom_frame` | The robot's odometry frame ID | `odom`
`latch_cmd_duration` | If this many seconds passes without receiving a velocity command the robot stops | `0.2`
`loop_hz` | Frequency of internal update loop | `10.0`
`publish_tf` | Publish the transform from `odom_frame` to `base_frame` | `true`
`robot_model` | The type of robot being controlled (supported values: `ROOMBA_400`, `CREATE_1` and `CREATE_2`) | `CREATE_2`
`baud` | Serial baud rate | Inferred based on robot model, but is overwritten upon providing a value
### Publishers
Topic | Description | Type
-------------|--------------|------
`battery/capacity` | The estimated charge capacity of the robot's battery (Ah) | [std_msgs/Float32][float32]
`battery/charge` | The current charge of the robot's battery (Ah) | [std_msgs/Float32][float32]
`battery/charge_ratio` | Charge / capacity | [std_msgs/Float32][float32]
`battery/charging_state` | The chargins state of the battery | [ca_msgs/ChargingState][chargingstate_msg]
`battery/current` | Current flowing through the robot's battery (A). Positive current implies charging | [std_msgs/Float32][float32]
`battery/temperature` | The temperature of the robot's battery (degrees Celsius) | [std_msgs/Int16][int16]
`battery/voltage` | Voltage of the robot's battery (V) | [std_msgs/Float32][float32]
`bumper` | Bumper state message (including light sensors on bumpers) | [ca_msgs/Bumper][bumper_msg]
`clean_button` | 'clean' button is pressed ('play' button for Create 1) | [std_msgs/Empty][empty]
`day_button` | 'day' button is pressed | [std_msgs/Empty][empty]
`hour_button` | 'hour' button is pressed | [std_msgs/Empty][empty]
`minute_button` | 'minute' button is pressed | [std_msgs/Empty][empty]
`dock_button` | 'dock' button is pressed ('advance' button for Create 1) | [std_msgs/Empty][empty]
`spot_button` | 'spot' button is pressed | [std_msgs/Empty][empty]
`ir_omni` | The IR character currently being read by the omnidirectional receiver. Value 0 means no character is being received | [std_msgs/UInt16][uint16]
`joint_states` | The states (position, velocity) of the drive wheel joints | [sensor_msgs/JointState][jointstate_msg]
`mode` | The current mode of the robot (See [OI Spec][oi_spec] for details)| [ca_msgs/Mode][mode_msg]
`odom` | Robot odometry according to wheel encoders | [nav_msgs/Odometry][odometry]
`wheeldrop` | At least one of the drive wheels has dropped | [std_msgs/Empty][empty]
`/tf` | The transform from the `odom` frame to `base_footprint`. Only if the parameter `publish_tf` is `true` | [tf2_msgs/TFMessage](http://docs.ros.org/jade/api/tf2_msgs/html/msg/TFMessage.html)
### Subscribers
Topic | Description | Type
------------|---------------|------
`cmd_vel` | Drives the robot's wheels according to a forward and angular velocity | [geometry_msgs/Twist][twist]
`debris_led` | Enable / disable the blue 'debris' LED | [std_msgs/Bool][bool]
`spot_led` | Enable / disable the 'spot' LED | [std_msgs/Bool][bool]
`dock_led` | Enable / disable the 'dock' LED | [std_msgs/Bool][bool]
`check_led` | Enable / disable the 'check robot` LED | [std_msgs/Bool][bool]
`power_led` | Set the 'power' LED color and intensity. Accepts 1 or 2 bytes, the first represents the color between green (0) and red (255) and the second (optional) represents the intensity with brightest setting as default (255) | [std_msgs/UInt8MultiArray][uint8multiarray]
`set_ascii` | Sets the 4 digit LEDs. Accepts 1 to 4 bytes, each representing an ASCII character to be displayed from left to right | [std_msgs/UInt8MultiArray][uint8multiarray]
`dock` | Activates the demo docking behaviour. Robot enters _Passive_ mode meaning the user loses control (See [OI Spec][oi_spec]) | [std_msgs/Empty][empty]
`undock` | Switches robot to _Full_ mode giving control back to the user | [std_msgs/Empty][empty]
`define_song` | Define a song with up to 16 notes. Each note is described by a MIDI note number and a float32 duration in seconds. The longest duration is 255/64 seconds. You can define up to 4 songs (See [OI Spec][oi_spec]) | [ca_msgs/DefineSong][definesong_msg]
`play_song` | Play a predefined song | [ca_msgs/PlaySong][playsong_msg]
## Commanding your Create
You can move the robot around by sending [geometry_msgs/Twist][twist] messages to the topic `cmd_vel`:
```
linear.x (+) Move forward (m/s)
(-) Move backward (m/s)
angular.z (+) Rotate counter-clockwise (rad/s)
(-) Rotate clockwise (rad/s)
```
#### Velocity limits
` -0.5 <= linear.x <= 0.5` and `-4.25 <= angular.z <= 4.25`
### Teleoperation
`ca_tools` comes with a launch file for teleoperating Create with a joystick.
``` bash
$ roslaunch ca_tools joy_teleop.launch [joy_config:=xbox360]
```
There exists configuration files for the [Xbox 360 wired controller](https://www.amazon.ca/Microsoft-Xbox-360-Wired-Controller/dp/B003ZSN600) and the [Logitech F710 controller](http://gaming.logitech.com/en-ca/product/f710-wireless-gamepad). You can adapt these files for your preferred joystick configuration.
## Contributions
Contributing to the development and maintenance of _create\_autonomy_ is encouraged. Feel free to open issues or create pull requests on [GitHub](https://github.com/AutonomyLab/create_autonomy).
### Contributors
* [Michael Browne](http://brownem.engineer/)
- Confirms driver works with Roomba 700 and 800 series.
* [Clyde McQueen](https://github.com/clydemcqueen)
- Added support for sound ([#37](https://github.com/AutonomyLab/create_autonomy/pull/37)).
* [Ben Wolsieffer](https://github.com/lopsided98)
- Added JointState publisher for wheels ([#26](https://github.com/AutonomyLab/create_autonomy/pull/26)).
- Added Create 1 description ([#27](https://github.com/AutonomyLab/create_autonomy/pull/27)).
[libcreate]: https://github.com/AutonomyLab/libcreate
[oi_spec]: https://www.adafruit.com/datasheets/create_2_Open_Interface_Spec.pdf
[odometry]: http://docs.ros.org/api/nav_msgs/html/msg/Odometry.html
[empty]: http://docs.ros.org/api/std_msgs/html/msg/Empty.html
[uint16]: http://docs.ros.org/api/std_msgs/html/msg/UInt16.html
[int16]: http://docs.ros.org/api/std_msgs/html/msg/Int16.html
[twist]: http://docs.ros.org/api/geometry_msgs/html/msg/Twist.html
[bool]: http://docs.ros.org/api/std_msgs/html/msg/Bool.html
[uint8multiarray]: http://docs.ros.org/api/std_msgs/html/msg/UInt8MultiArray.html
[float32]: http://docs.ros.org/api/std_msgs/html/msg/Float32.html
[ca_msgs]: http://github.com/AutonomyLab/create_autonomy/tree/indigo-devel
[bumper_msg]: https://github.com/AutonomyLab/create_autonomy/blob/indigo-devel/ca_msgs/msg/Bumper.msg
[mode_msg]: https://github.com/AutonomyLab/create_autonomy/blob/indigo-devel/ca_msgs/msg/Mode.msg
[chargingstate_msg]: https://github.com/AutonomyLab/create_autonomy/blob/indigo-devel/ca_msgs/msg/ChargingState.msg
[jointstate_msg]: http://docs.ros.org/api/sensor_msgs/html/msg/JointState.html
[definesong_msg]: https://github.com/AutonomyLab/create_autonomy/blob/indigo-devel/ca_msgs/msg/DefineSong.msg
[playsong_msg]: https://github.com/AutonomyLab/create_autonomy/blob/indigo-devel/ca_msgs/msg/PlaySong.msg