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Navigation Project Meta Package

This is the whole robot program which including navigation, localization and main function.

1. How to install

1.1. clone the meta package

  1. git clone https://github.com/pithreeone/Navigation_Project.git
    or clone by ssh git clone git@github.com:pithreeone/Navigation_Project.git

  2. If you are developer, you can also clone the Simulation package use in this repo. https://github.com/pithreeone/Simulation.git or clone by ssh git@github.com:pithreeone/Simulation.git

1.2. compile YDLidar-SDK

  1. cd ~/."your_ws"/src/Navigation_Project/localization/YDLidar-SDK/build
  2. cmake ..
  3. make
  4. sudo make install

1.3. install some binary file

  1. sudo apt-get install ros-noetic-gazebo-ros
  2. sudo apt-get install ros-noetic-ros-controllers
  3. sudo apt install ros-noetic-gazebo-ros-pkgs ros-noetic-gazebo-ros-control
  4. sudo apt-get install ros-noetic-filters

2. Setting Before Start

2.1 Set on Robot

  1. check tf between base_frame & laser_frame

  2. Set the USB-port name in localization_run/launch/localization.launch. Check the following argument:

    • lidar_port
    • odometry_port
    • mechanism_port

  3. Add environment variable in ~/.bashrc. When save the map, it will save at this path. export MAP_PATH=/home/pithreeone/amr_robot/src/navigation/navigation/navigation-stack/map_server/map_config export MUSIC_PATH=/home/pithreeone/amr_robot/src/navigation/localization/chores/elevator-audio

  4. Authorization of I2C ports:
    ls -l /dev | grep i2c : Can see all available I2C ports.
    sudo chmod 777 /dev/i2c-* : * is the number of the port you want to authorize.
    sudo usermod -aG i2c ubuntu : The most important step to keep the configuration effective even after rebooting.

2.2 Set on PC

  1. Add environment variable in ~/.bashrc export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:~/amr_robot/src/Simulation/gazebo_simulation/models

3. How to Use

avator

  • The main program of robot is achieved by finite state machine. Machine Graph can be seen above. To change state, we need events which can be created by publishing topic: /action
  • The message is user-defined in robot_interface package.
  • Initial state is STOP

3.1. SLAM-mode

  1. Publish an topic which mission is start_mapping (state: STOP$\rightarrow$START_MAPPING$\rightarrow$AUTO_MAPPING) Let the topic name be action, or you can remap.

  2. Now robot will move automatically.

  3. You can also use telop_twist_keyboard to publish velocity topic. Topic name is control_cmd_vel. We can use the following command to change the topic name that teleop_twist_keyboard publish. rosrun teleop_twist_keyboard teleop_twist_keyboard.py cmd_vel:=control_cmd_vel

  4. Once finish mapping, publich an topic which mission is check_map. Then it will save map. The map will be saved in /home/user-name/.ros Set the following message for your topic :

    • action.map_ok(bool) = true
    • action.set_map_name(string) = floor_XX

  5. If the computer on robot do not have enough computility, you can launch the gmapping on your own PC. roslaunch localization_run gmapping.launch

3.2. Localization-mode

Localization mode is also mission mode. Ex: robot moves crossing floor.

3.3. Parameters

The following list some parameters that may need to tune.

3.3.1 laser_filters

  • Set the minimum and maximum range that you don't want.
  • In laser_filters/launch/rane_filter.yaml

3.3.2 elevator_classifier

  • In localization/elevator_classifier/config/classifier_tradition.yaml

3.3.3 robot_interface

  • In navigtion/robot_interface/config/interface.yaml
  • You can set each goal point in the YAML file.

4. The messages

The package provides three custom message types. All of their numerical values are provided in SI units.

  • Interface

    • string mission missions:[start_mapping, finish_control_mapping, check_map, choose_map, move_goal, move_goal_key, record_position]
    • geometry_msgs/PoseStamped goal if mission is move_goal, set goal
    • string choose_map_name if mission is choose_map, choose a map
    • string position_key if mission is record_position, set name of position
    • bool map_ok check whether map is acceptable
    • string set_map_name if mission is check_map, set map name

  • Robot_State

    • string robot_state robot current state. state : [REACH, STUCK]

5. The launch files

5.1 Run real robot

For start up real robot, you can launch the file below.

  • roslaunch navigation_run navigation.launch 2>/dev/null

5.2 Testing tool

5.3.1 Publish command to robot

publish_mission node can help you publish the Interface topic. It's hard to publish it using rostopic pub ...

  • rosrun navigation_run publish_mission

*Be careful to publish the command velocity to odometry with topic name control_cmd_vel instead of cmd_vel

  • rosrun teleop_twist_keyboard teleop_twist_keyboard.py cmd_vel:=control_cmd_vel

5.3.2 Check connection with firmware

  • roslaunch localization_run odometry.launch

You can add specific port name after the above command.

  • roslaunch localization_run odometry.launch odometry_port:=/dev/USB1

6. ERROR

6.1 Run real robot

  • [ WARN] [1699963788.943319783]: Robot_Interface: Cannot subscribe current floor ...
    Solution: Usually means the bmp280 pressure sensor doesn't open correctly. Check the code Line 10 in: /localization/sensor_firmware/src/bmp280_publisher.py
    bus = smbus2.SMBus(1) You can change the SMBus to 0,1,2,...