EduBot ROS2 Documentation

Documentation repository for the EduBot ROS2 compatibility project

Related Repositories

PRIZM ROS2 package: prizm_ros2
PRIZM Arduino microcode for prizm_ros2: prizm_ros2_arduino
EduBot LDS-01 LiDAR ROS2 Driver: hls_lfcd_lds_driver
ROS2 Webcam Publisher: usb_cam
EduBot ROS2 Examples: prizm_ros2_examples

Setup

Step 1: Clone the Repositories

Clone the following repositories into a ROS2 workspace:

prizm_ros2

git clone https://github.com/LTU-Actor/prizm_ros2.git

prizm_ros2_arduino

git clone https://github.com/LTU-Actor/prizm_ros2_arduino.git

hls_lfcd_lds_driver

git clone https://github.com/ROBOTIS-GIT/hls_lfcd_lds_driver.git -b jazzy

usb_cam

sudo apt install ros-jazzy-usb-cam

prizm_ros2_examples

git clone https://github.com/LTU-Actor/prizm_ros2_examples.git

Step 2: Build the ROS2 Packages

Build the EduBot ROS2 packages with the following lines:

colcon build --packages-select prizm_ros2 hls_lfcd_lds_driver prizm_ros2_examples

source <ros2 workspace>/install/setup.bash

Step 2.5: Allow Serial Communication

In order to do serial communication, your user needs to be in the dialout group.

sudo adduser $USER dialout

You may need to reboot after adding your user to a new group.

Step 3: Prepare the Tetrix PRIZM Controller

NOTE: If your PRIZM controller already has the prizm_ros2_arduino microcode installed, you may skip this step.
Navigate to the prizm_ros2_arduino repository and follow the instructions there to set up the PRIZM Arduino with the prizm_ros2_arduino microcode.

Usage

prizm_ros2

Step 1: Connect the PRIZM Controller

Power on the Tetrix PRIZM controller and connect your machine by USB.

Step 2: Launch the Program

Launch the program with the following line:

ros2 launch prizm_ros2 launch.py serial_port:=<device path to PRIZM>

The serial_port parameter defaults to /dev/ttyUSB0, but can be modified.

Step 3: Enable the PRIZM Controller

Shortly after launching prizm_ros2, the green LED should show on the PRIZM controller. Press the green button to enable the controller.

Step 4: ROS2 Usage

You may now use prizm_ros2 to control the bot's movement and LEDs. See the prizm_ros2 ROS2 Info for a full description of the ROS2 usage structure.

hls_lfcd_lds_driver

Step 1: Connect the LDS-01 LiDAR

Connect the LiDAR to your machine by USB. The LiDAR should spin upon connecting.

Step 2: Launch the Program

Launch the program with the following line:

ros2 launch hls_lfcd_lds_driver hlds_laser.launch.py

LiDAR ranging information should appear on the /scan topic.

Step 3: Visualization (Optional)

Visualization of the LiDAR ranging information can be done with the following line:

rviz2 -d <driver directory>/rviz/hlds_laser.rviz

Examples

Some basic examples are available:

Drive Forward Yaw

Drives the bot at a constant speed and yaw for a specified duration.

ros2 run prizm_ros2_examples drive_forward_yaw