Overview

• This package is being created to add necessary features and improvements for our robots, specifically for ros2. This package is a ros2 porting of a indoor navigation project and implement integration with Slam and Navigation ROS2 package.

• This package is exclusively built for ROS2. It is being tested on Ubuntu 20.04 with ROS2-Humble.

• All the branches of this package are relative to a specific Sensor integration.

Table of Contents

1. Prerequisites
2. Packages used in Dockerfile
3. Image Compilation and Execution
4. Usage
5. What is launched with this?
6. Navigation2 and Slam Toolbox Configuration

Prerequisites

Before setting up the project, you have to install docker. If you already installed docker, go to the next session

# Add Docker's official GPG key:
sudo apt-get update
sudo apt-get install ca-certificates curl gnupg
sudo install -m 0755 -d /etc/apt/keyrings
curl -fsSL https://download.docker.com/linux/ubuntu/gpg | sudo gpg --dearmor -o /etc/apt/keyrings/docker.gpg
sudo chmod a+r /etc/apt/keyrings/docker.gpg

# Add the repository to Apt sources:
echo \
  "deb [arch=$(dpkg --print-architecture) signed-by=/etc/apt/keyrings/docker.gpg] https://download.docker.com/linux/ubuntu \
  $(. /etc/os-release && echo "$VERSION_CODENAME") stable" | \
  sudo tee /etc/apt/sources.list.d/docker.list > /dev/null
sudo apt-get update

# Install the Docker packages
sudo apt-get install docker-ce docker-ce-cli containerd.io docker-buildx-plugin docker-compose-plugin

# Add docker user
sudo groupadd docker
sudo usermod -aG docker $USER
newgrp docker

Then log out and log in.

Packages used in Dockerfile

• kmod
• minicom
• screen
• xacro
• rviz2
• librealsense2
• realsense2
• navigation2
• nav2-bringup
• slam-toolbox
• rmw-cyclonedds-cpp
• joint-state-publisher-gui External repositories included in this porject:
• TEB Local Planner
• Aruco Marker Pose Estimation
• Costmap Converter

Image Compilation and Execution

1. Clone the repo (complete the command)

git clone https://github.com/

2. Open a terminal in the repo and source the build file

source docker_build.sh <IMAGE_NAME>

where <IMAGE_NAME> is a name for the image you want to build.

3. In the terminal in the repo, source the run file

source docker_run.sh <IMAGE_NAME> <CONTAINER_NAME>

where <IMAGE_NAME> is the name of the image you have just built, while <CONTAINER_NAME> is a name for the container hosting the image.

Notes

1. The container's root password is "user" by default.

2. The container will be automatically destroyed once exited (--rm flag). If you want to attach additional terminals to the container you need to keep it running (docker_run.sh script). You can attach a new terminal by running the following command

docker exec -it $(docker ps -aqf "name=<CONTAINER_NAME>") bash

3. It is recommended to check the correct time for successful image creation
4. All apt-get performed inside the container will be removed one che container is closed. Please add all new dependacies to the Dockerfile and rebuild the image.

Usage

1. Create a container using this project image on both rover PC an controller PC
2. Set the same ROS domain ID on both rover PCs

export ROS_DOMAIN_ID=X #number

3. Check if the containers times are synchronized, if not use:

sudo date --set="aa-dd-mm h:m:s.ms"

4. On the robot terminal source the workspace, compile the project and source the bash.rc:

colcon build --symlink-install
source ./install/setup.bash

5. Launch all the nodes on the robot via:

ros2 launch rover_bringup rover_bringup.launch

6. On the controller PC terminal open rviz2

What is launched with this?

Launch files inside rover_bringup.launch: (1) The Robot Description, (2) The Robot Differential Driver, (3) Sensors Launch, and (4) SLAM and Navigation Launch.

1. The Robot Description: responsible for publishing to the /tf topic and providing transforms between the base_link, base_footprint, and sensor links. Edit the URDF for your robot to define new frames or remove links
2. The Robot Differential Driver: motor controller driver, responsible for interfacing with the robot and handling velocity commands and publish wheel odometry
3. Sensors Launch: sensor particular launch file.
4. SLAM and Navigation Launch: files to start the slam_toolbox to actuate SLAM and the nav2 pkg for the navigation stack, both files take as input a .yaml configuration file to setup the parameters.

All this launch files are available separately in the launch folder of the rover_bringup package.

Navigation2 and Slam Toolbox Configuration

It has been provided launch files and configs for Navigation2 and Slam Toolbox. They are available in the rover_bringup package.

They can be launched with the following launch commands:

ros2 launch rover_bringup online_async_launch.py
ros2 launch rover_bringup  navigation_launch.py

To change the SLAM and Navigation parameters, work on:

• mapper_params_online_async file in the confif folder.
• nav2_params file in the params folder.