ros-workspace

Note

The continued development has been transferred to the club here

Cloning

When first cloning, use git clone --recurse-submodules <url> If you forget to get the submodules, it will not compile. If you already cloned it, you can run git submodule update --init --recursive after the fact.

Installing the ros dependencies

Setup required for ignition simulations

sudo curl https://packages.osrfoundation.org/gazebo.gpg --output /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null

Setup required for ignition ros2_control export IGNITION_VERSION=fortress Setup required for ouster lidar

sudo apt install -y             \
    ros-$ROS_DISTRO-pcl-ros     \
    ros-$ROS_DISTRO-tf2-eigen   \
    ros-$ROS_DISTRO-rviz2

sudo apt install -y         \
    build-essential         \
    libeigen3-dev           \
    libjsoncpp-dev          \
    libspdlog-dev           \
    libcurl4-openssl-dev    \
    cmake                   \
    python3-colcon-common-extensions

Setup required for sbg IMU

sudo adduser $USER dialout

This following will install the dependencies like navigation2, ros2_control, etc on to the system.
sudo rosdep init
rosdep update
Navigate to the ros-workspace then
rosdep install --from-paths src --ignore-src -r -y

Building the workspace

colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release

Sourcing the build in terminal

source install/setup.bash (Assuming you are in ros-workspace)

To not do this each time you open up a new terminal go to the

nano ~/.bashrc, and add source {full path to your setup.bash file}. Ex. source /home/ros-workspace/install/setup.bash

Mapping/Localization

To launch the simulation the following command is used

ros2 launch snowplow snowplow_bringup.launch.py
To change it to localization, go into the slam_localization.launch.py and change the config location

slam_file = os.path.join(pkg_share, 
                        "config","slam",
                        "mapper_params_online_async.yaml")

from mapper_params_online_async.yaml to localization_params_online_async.yaml and vice versa

Physical Testing

Setup

SBG Systems

To be able to communicate with the device, be sure that your user is part of the dialout group. Once added, restart your machine to save and apply the changes. sudo adduser $USER dialout

If you want to just run the robot using the remote control, run

ros2 launch snowplow remote_control.launch.py

If you want to run all the autonomous functionality and sensor drivers, run

ros2 launch snowplow physical_snowplow_bringup.launch.py

Driving the vehicle

You can drive using both the keyboard and remote control as explained above. For the keyboard control, use this command ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args --remap cmd_vel:=/diff_cont/cmd_vel_unstamped