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rosbot_bringup

makes use of adapted version of rosbot_ekf https://github.com/KdVos/rosbot_ekf

Prerequisites

Make sure the following repos are present in the husarion_ws of the robot

https://github.com/KdVos/rosbot_rosserial_python

https://github.com/KdVos/rosbot_ekf_multi

IP-adresses of the Rosbots

On the rosbot network the rosbots have the following IPs

Robot Type IP
Pyro ROSBOT 2.0 (Red and White) 192.168.1.3
Bobo ROSBOT 2.0 PRO (Black and Purple) 192.168.1.4
Coco ROSBOT 2.0 PRO (Black and Purple) 192.168.1.5

Logging into the robots is easily done through the command line

ssh husarion@<IP of Robot>

Installation instructions

After installation of the default ROSBOT software:

Single Robot

Setting up the ROS network

install the following packages for namespace resolution. Reboot afterwards.

sudo apt-get install libnss-mdns avahi-daemon avahi-dnsconfd

libnss-mdns # Allows for searching .local dns names avahi-daemon # Allows for exposing .local dns name avahi-dnsconfd # Listens on the network for announced DNS servers and passes them to resolvconf

install the following packages for namespace resolution. Reboot afterwards.

sudo apt-get install libnss-mdns avahi-daemon avahi-dnsconfd

libnss-mdns # Allows for searching .local dns names avahi-daemon # Allows for exposing .local dns name avahi-dnsconfd # Listens on the network for announced DNS servers and passes them to resolvconf

#TODO: setup the ROS network with proper namespace resolution.

ROBOT

In the bashrc of the robot add the line:

export ROS_IP=<ip of the robot>

Disable the firewall on the robot, or whitelist the remote PC on the robot. To do the latter, on the robot run:

sudo ufw allow from <ip of the remote PC>

Furthermore, make sure that the following enviroment variable is set

export ROSBOT_VER=ROSBOT_2.0 or export ROSBOT_VER=ROSBOT_2.0_PRO

depending on the exact model you're using.

Remote PC

In the bashrc of the remote PC add:

export ROS_HOSTNAME=<ip of the remote PC>

Disable the firewall on your remote PC or whitelist the robot on the remote PC. To do the latter, on the robot run:

sudo ufw allow from <ip of the robot>

Launch the Hardware

On the Robot run the following command on the robot

roslaunch rosbot_bringup start.launch

To test the correct functioning of the robot you can drive around using teleop

rosrun teleop_twist_keyboard teleop_twist_keyboard.py

To also launch the camera node, run instead

roslaunch rosbot_bringup start.launch camera:=true

To test the working of the (rgb)-camera run (on the remote laptop)

rosrun image_view image_view image:=/camera/rgb/image_raw/ compressed

Multi-Robot

Using ROS, there has to be exactly one master, which runs the roscore.

Depending on your specific application, and/or preferences, you might want to run the roscore on either the remote pc or one of the robots.

In this readme we will assume that the roscore is running on one of the robots.

Setting up the ROS network

Access the bashrc file on each robot/laptop using nano ~/.bashrc, close and save using ctrl + x.

Make sure that for each, the following variables are set

Remote PC

export ROS_MASTER_URI=http://<IP of the Master Robot>:11311

export ROS_HOSTNAME=<ip of the remote PC>

Master Robot

export ROS_MASTER_URI=http://master:11311

export ROS_IP=<ip of the Master Robot>

Other Robots

export ROS_MASTER_URI=http://<IP of the Master Robot>:11311

export ROS_HOSTNAME=<ip of this Robot>

Launch the Hardware

In order to prevent a clash between nodes that have the same name, we have to namespace all nodes that we want to launch.

On each Robot run the following command on the robot

roslaunch rosbot_bringup start_ns.launch ns:=<Name of Robot>

To test the correct functioning of the robot you can drive around using teleop

rosrun teleop_twist_keyboard teleop_twist_keyboard.py cmd_vel:= /<Name of Robot>/cmd_vel

To also launch the camera node, run instead

roslaunch rosbot_bringup start_ns.launch ns:=<Name of Robot> camera:=true

To test the working of the (rgb)-camera run (on the remote laptop)

rosrun image_view image_view image:=/<Name of Robot>/camera/rgb/image_raw/ compressed