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ow-sw-hw-integration

Repository dedicated to the integration of the upper-level and the lower-level software.

rPI

Dedicated to the ROS 2 (joystick, control, perception)

arduino

Dedicated to low-level control (battery system, drive system, ligthing system...)

Run joystick with

joystick-drivers git repo

ros2 run joy joy_node

logitech joy works great!

chinese bt joy doesn't have floats!

Run teleop_twist_joy

teleop-twist-joy git repo

ros2 launch teleop_twist_joy teleop-launch.py joy_config:='xbox'

Transport drivers git repo

transport-drivers git repo

UDP, Serial, IO context

Setting up rPI:

Following steps are necessary to set up rPI:

  1. Install Ubuntu
  2. Install necessary packages such as net-tools
  3. Add static IP adress
  4. Build ROS 2
  5. Build microROS
  6. Add bash script for autonomous start of the ROS 2 nodes on the startup

How to connect:

It is possible to connect on the rPI by attaching ethernet cable from PC to the crobot and use SSH.

Current IP of the crobot is: 192.168.1.5

And connection is possible with:

ssh [email protected]
password: crobot

Create static IP of the PC that's connected as: 192.168.1.x, gateway is 192.168.1.1

How to connect to WiFi over SSH:

Run following command to list all of the available networks:

nmcli device wifi list

Output is:

IN-USE  BSSID              SSID                MODE   CHAN  RATE        SIGNAL  BARS  SECURITY  
        B6:99:7B:6F:1F:2A  --                  Infra  6     130 Mbit/s  100     ▂▄▆█  WPA2      
        1C:9E:CC:D1:09:98  TCHA90A5ZR          Infra  11    405 Mbit/s  55      ▂▄__  WPA2 WPA3 
        00:CB:7A:A2:4E:88  TCH3P8S84A          Infra  1     405 Mbit/s  49      ▂▄__  WPA2 WPA3

Choose one you need and connect to it with:

sudo nmcli device wifi connect <BSSID> password <PASSWORD>

micro-ROS

In order to build microROS follow this instructions.

When building micro-ROS

When building firmware, DO NOT source /opt/ros/$ROS_DISTRO/setup.bash, DO source dev_ws/install/setup.bash

When building agent(with agent_ws), DO source /opt/ros/$ROS_DISTRO/setup.bash, DO NOT source dev_ws/install/setup.bash

You'd better remove any setup like source /opt/ros/$ROS_DISTRO/setup.bash in your ~/.bashrc.

Adittional info

If output of the:

ros2 run micro_ros_setup create_agent_ws.sh

is:

[ros2run]: Process exited with failure 6
[ros2run]: Process exited with failure 6

device is not connected to the internet.

Relevant info

micro-ROS build duration:

  • firmware_build : 30 min
  • micro_ros_agent : 5 min

Serial

Add administrative privileges to the serial port as:

sudo chmod 777 /dev/ttyAMA0

UART --> GPIO 14/15 (/dev/ttyAMA0) More info

Running microROS over serial port

Command to start micro_ros_agent over serial port is:

ros2 run micro_ros_agent micro_ros_agent serial --dev /dev/ttyAMA0

Github issue with micro_ros_agent cmd

Run micro_ros_agent over serial as:

ros2 run micro_ros_agent micro_ros_agent serial --dev /dev/ttyAMA0 -b 115200

If the agent is running output is:

[1701472247.113546] info     | TermiosAgentLinux.cpp | init                     | running...             | fd: 3
[1701472247.114296] info     | Root.cpp           | set_verbose_level        | logger setup           | verbose_level

How to enable UART on the rPI?

  1. In order to enable UART on the rPI it is important to add following lines to the /boot/firmware/config.txt:
# Enable UART
enable_uart=1
dtoverlay=pi3-miniuart-bt
  1. Also, copy and paste following to the /boot/firmware/cmdline.txt:
zswap.enabled=1 zswap.zpool=z3fold zswap.compressor=zstd dwc_otg.lpm_enable=0 console=tty1 root=LABEL=writable rootfstype=ext4 rootwait fixrtc quiet splash

AskUbuntu

rPI pinout

raspberry config

serial rPI4 setup info

microROS discussion

publish msg to topic as

ros2 topic pub /cmd_vel geometry_msgs/msg/Twist "linear:
  x: 4.5
  y: 6.0
  z: 0.0
angular:
  x: 0.0
  y: 0.0
  z: 0.0"

Resources used

Serial connection rPI

Maintainer

Current maintainer is [email protected]

TODO:

Todo list for the initial HW-SW integration.

System

  • Edit README.md (formatting)
  • Enable WiFi connection for the development
  • Build exemplary microROS on the rPI
  • Check serial connection of the rPi and the Nucleo
  • Setup serial communication for the microROS comms
  • Create .rc scripts to start microROS after turning on

ROS 2 control

  • Enable ros2_joy for the logitech joystick control
  • Test initial funcitonality joy node
  • Test initial functionality teleop_twist_joy node
  • Enable upper-level control simple PID or pure-pursuit
  • Think of the sensory placement for the autonomous control
  • Define initial SW arch for the testing phases
  • Write all necessary packages for the automatic deployment on the ROS 2
  • Fix joy to cmd_vel mapping