Introduction_to_Integrated_Robotics_slot_18

A repository containing all the materials for the PESU IO course Introduction to Integrated Robotics

Dual Booting System with Ubuntu 22.04

To dual boot your systems please refer to this youtube link: https://www.youtube.com/watch?v=UmPL54WKlaU&ab_channel=Buzz2dayTech

For VirtualBox refer this link:

Windows: https://www.youtube.com/watch?v=v1JVqd8M3Yc&ab_channel=ProgrammingKnowledge Mac: https://www.youtube.com/watch?v=b_tOialCSXE&ab_channel=TheLinuxOS

Ubuntu 22.04 iso download link: https://releases.ubuntu.com/jammy/

Installation

Arduino IDE 2

Refer this link: https://www.arduino.cc/en/software Please download the zip file and extarct it on your ubuntu desktop.

ROS2 Humble

Refer this link: https://docs.ros.org/en/humble/Installation.html

Gazebo

Open terminal and run:

sudo apt-get install gazebo11

Check the installation:

gazebo

Rviz

Usualy installed with ROS2 packages, run the command below to check:

rviz2

Installing ESP32 package in Arduino IDE

Refer this link: https://randomnerdtutorials.com/installing-the-esp32-board-in-arduino-ide-windows-instructions/

Robot Simulation

Open Terminal and run the below commands:

1. Creating your workspace

   mkdir -p ~/iir_ws/src

2. Cloning this Repository

   cd ~/iir_ws/src
   git clone https://github.com/Varchasvin10/Introduction_to_Integrated_Robotics_slot_18.git

   FOLLOW THE STEPS TOLD BY SME'S HERE!!

3. Building your workspace

   cd
   cd ~/iir_ws
   colcon build

   Usually there wont be robot localization node downloaded. We can download it using this command

   sudo apt-get install ros-humble-robot-localization

4. Running Rviz and Gazebo Simulation First we have to source our workspace:

   source install/setup.bash

   Launching the Simulation in Rviz and Gazebo:

   ros2 launch iir display.launch.py

   To run only Rviz:

   ros2 launch iir rviz.launch.py

   To run only Gazebo:

   ros2 launch iir gz.launch.py

5. Using Teleop keys to control the simulated robot

   ros2 run teleop_twist_keyboard teleop_twist_keyboard

Integrating ESP32 with ROS2 Humble

Micro ROS Installation:

Open up terminal and run the following command:

1. Source the workspace:

   source /opt/ros/humble/setup.bash

2. Edit ~/.bashrc:

   gedit ~/.bashrc

   Add this line in the file:

   source /opt/ros/humble/setup.bash

3. Create a workspace:

   cd
   mkdir microros_ws
   cd microros_ws
   mkdir src

4. Clone Micro ROS from github:

   cd
   cd microros_ws/src
   git clone -b $ROS_DISTRO https://github.com/micro-ROS/micro_ros_setup.git src/micro_ros_setup

5. Install rosdep:

   cd
   sudo apt install python3-rosdep2

6. Update and Install other dependencies:

   sudo apt update && rosdep update
   rosdep install --from-paths src --ignore-src -y
   sudo apt-get install python3-pip

7. Build micro_ros tool and source them:

   cd microros_ws
   colcon build
   source install/setup.bash

8. Install Micro ROS agent:

   ros2 run micro_ros_setup create_agent_ws.sh
   # Build step
   ros2 run micro_ros_setup build_agent.sh

Installing micro_ros for arduino ide:

Refer to this link: https://github.com/micro-ROS/micro_ros_arduino/releases

Running Micro ros agent on the ESP32:

Connect the esp32 to your device and run this command:

cd microros_ws
source install/setup.bash
ros2 run micro_ros_agent micro_ros_agent serial --dev /dev/ttyUSB0

Running Micro-ros over Wifi and UDP on the ESP32:

Connect the esp32 to a power bank and run the below command:

cd microros_ws
source install/setup.bash
ros2 run micro_ros_agent micro_ros_agent udp4 --port 8888