LeoRover-SLAM-ROS2

Packages and instructions needed to launch the Leo System and attached rplidar in ROS2 Humble. Please install the Zed SDK, Zed-ros2-wrapper, Nav2, SLAM-Toolbox, and robot-localization packages for ROS2 Humble.Tested on Ubuntu 22.04 ROS2 Humble

Launching the Leo Rover

After turning on the Leo Rover, ssh with the provided credentials. Addresses for ssh are as follows pi@10.0.0.1 PW: raspberry, leoroverjetson1@10.0.0.120 or leoroverjetson2@10.0.0.161 PW: cory337d ,

1. Open a terminal and launch the Leo Rover's main system

$ source /opt/ros/humble/setup.bash
$ ros2 run leo_bringup leo_system

2. Open a second terminal and launch the RPLidar node.

$ source /opt/ros/humble/setup.bash
$ ros2 launch rplidar_ros rplidar_a2m12_launch.py

3. In order to get the Laserscan topic to appear correctly, and for the Nav2 SLAM to function, we need to use a series of tf transfoms. All are necessary for the tf tree to be complete. If not working please use rqt.

$ source /opt/ros/humble/setup.bash
$ ros2 run tf2_ros static_transform_publisher 0.1 0 0.02 3.14159 0 0 base_link laser
$ ros2 run tf2_ros static_transform_publisher 0.1 0 0.1 3.14159 0 0 base_link zed_camera_link
ros2 run tf2_ros static_transform_publisher 0.1 0 0.1 3.14159 0 0 base_link zed_camera_center

Setting up a control computer and using RVIZ

Requirements: Ubuntu 22.04 ROS2 Humble

1. Pull this repository to your local computer, build, and install any required dependencies.

$ git pull https://github.com/Arthios09/LeoRover-SLAM-ROS2.git
$ rosdep update
$ rosdep install --from-paths src -y --ignore-src
$ colcon build --symlink-install

2. Open a terminal within this folder so that we can visualize the system.

$ source install/setup.bash
$ ros2 launch leo_viz rviz.launch.xml

Note: All required packages are already on-board the Leo Rover.

Launching Aruco ROS

1. Make sure to be in the aruco_ros folder before executing

$ source install/setup.bash
$ ros2 launch aruco_ros single.launch.py marker_size:=.1 marker_id:=0 reference_frame:=base_link camera_frame:=camera_optical_frame

Running preprogrammed drive scripts

1. To run preprogrammed commands, modify commands.txt and run the following program:

$ source install/setup.bash
$ ros2 run programmed_drive drive

2. To run the Aruco follow command

$ source install/setup.bash
$ ros2 run programmed_drive aruco_drive

Running Foxglove

1. Due to the way the websocket is set up, we need to export the port to point correctly on the rover computer. Open a terminal:

$ source install/setup.bash
$ ros2 launch foxglove_bridge foxglove_bridge_launch.xml port:=8765

2. Now, launch Foxglove Studio

$ foxglove-studio

Set the port to default (8765), and use the provided template file to view the rover. Files may change.

SLAM Implementation - Nav2

1. For installation of Nav2 and the required dependencies, please follow the guide at https://navigation.ros.org/getting_started/
2. To start the Nav2 + slamtec SLAM implementation, open 3 terminals and run:

$ source /opt/ros/humble/setup.bash
$ ros2 launch nav2_bringup navigation_launch.py params_file:=nav2_main.yaml

and

$ source /opt/ros/humble/setup.bash
$ ros2 launch slam_toolbox online_async_launch.py params_file:=mapper_params_main.yaml

$ source /opt/ros/humble/setup.bash
$ ros2 launch robot_localization ekf.launch.py params_file:=ekf.yaml

$ ros2 launch zed_wrapper zed_camera.launch.py camera_model:=zed2i  #zed node launch script

Startup Scirpt

1. To start all necessary ROS2 nodes and services, open an ssh terminal connected to a Jetson and run:

$ python3 start_rover.py

API Server

1. Please clone the repository and follow directions found at https://gitlab.com/roar-gokart/api-server

$ ros2 launch rosbridge_server rosbridge_websocket_launch.xml

2. To launch the websocket server:

$ roslaunch rosbridge_server rosbridge_websocket.launch