Report03

Clone the project

ssh:

git clone --recursive git@github.com:sesasrcourse/report03_ws.git

https:

git clone --recursive https://github.com/sesasrcourse/report03_ws.git

REAL EXPERIMENT

Repository cloning

The robot should already have this repo downloaded at directory ~/report03_ws. So you can just do git pull everytime you update the code from your local pc. You don't have to do the rosdep command cause it's already been checked the installation of all the required dependencies (but you can do it just to be sure) with this series of commands:

cd report03_ws
rosdep install -iy --from-path src

remember to build and source

cd report03_ws
colcon build
source install/local_setup.bash

Start the whole experiment

You need these 3 ssh terminals:

zenoh rmw

ros2 run rmw_zenoh_cpp rmw_zenohd

Things to check for correct connection

.bashrc of the ROBOT:

export RMW_IMPLEMENTATION=rmw_zenoh_cpp
export TURTLEBOT3_MODEL=burger
export LDS_MODEL=LDS-02
export ROS_DOMAIN_ID=2
export CAMERA_MODEL=realsense

YOUR PC .bashrc:

export TURTLEBOT3_MODEL=burger
export ROS_DOMAIN_ID=2
export RMW_IMPLEMENTATION=rmw_zenoh_cpp
export ZENOH_CONFIG_OVERRIDE='mode="client";connect/endpoints=["tcp/192.168.10.102:7447"]'

If the robot is publishing topics (and you see them with a ros2 topic list from a robot terminal) but you don't see them on your own pc terminal just do:

pkill -9 -f ros && ros2 daemon stop;
ros2 topic list

Doing the ros2 topic list restarts the daemon process

turtlebot3 bringup

ros2 launch turtlebot3_bringup robot.launch.py

launch real.launch.py:

NB: The real.launch.py also launches these two launches required for the camera and apriltags perception:

• ros2 launch turtlebot3_perception camera.launch.py
• ros2 launch turtlebot3_perception apriltag.launch.py Therefore, DO NOT LAUNCH THEM as the .pdf of the lab says, cause we do it already automatically in our real.launch.py.

To launch:

ros2 launch r3pkg real.launch.py obj_fun:=1 conf:=real_cfg.yaml

obj_fun [REQUIRED]: can only be 3 possible choices:

• 1: objective function of task1
• 2a: first objective function of task2
• 2b: second objective function of task2

At launch time the node will log on screen also the entire list of parameters of the controller_node so you can easily check out all the params set. You can also use another config file, just copy from the default config file in ./src/r3pkg/config/node_params_std.yaml. Please do NOT edit node_params_std.yaml cause it has the defaults that are also written in the controller_node.py

SIMULATED EXPERIMENT

Start the experiment

To start the simulation you need to build and source first, then launch the sim.launch.py with the objective function you want. The possible choices for obj_fun are the same as for the real experiment.

The launch file sim.launch.py will automatically launch also the gazebo simulation environment and the turtlebot3 in it.

cd report03_ws
colcon build
source install/local_setup.bash
ros2 launch r3pkg sim.launch.py obj_fun:=1