Roboticfd

Educational Robotic fundamental tutorials.

Title

Author(s)	Chien Duong
Topic(s)	Educational Robotic / Ros / AI
Status	In progress

Pre-requirement:

1. Ubuntu 16.04 or 18.04
2. Ros
3. Theory: https://chienduong93.wordpress.com/2021/11/18/rf-tutorial-1/

Table of Content

0. Config
1. Manually control a robot in simulation
2. Autonomously in Simulation: build map, run map
3. Create custom messages. And use_case example.
4. List of tips & tricks: ros param, ros launch, debug with roslog, switch topic, roslog, ros bag, public topic one time.
5. Build a Hardware
6. Robotic in Production
7. Vision based approach with AI solution: reinforcements learning, segmentation, detection.
8. Sensors fusion and fusion vision approach with sensor_base approach.

Config

Install Ros, gazebo, rviz.

ROS: 18.04: melodic, 16.04: kinetic

Check ubuntu version

cat /etc/os-release

Install Ros

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
sudo apt-get update
sudo apt-get install ros-melodic-desktop-full

Basic packages: should be install into the system /opt/ros/melodic.

sudo apt install python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential
sudo apt install python-rosdep
sudo rosdep init
rosdep update

sudo apt-get install ros-melodic-gazebo-ros-pkgs ros-melodic-gazebo-ros-control
sudo apt-get install ros-melodic-unique-id
sudo apt-get install ros-melodic-uuid-msgs

Extra packages for autonomous function.

sudo apt-get install ros-melodic-navigation
sudo apt-get install ros-melodic-map-server
sudo apt-get install ros-melodic-move-base
rospack profile
sudo apt-get install ros-melodic-amcl

Note:

• If you don't want to install to the system /opt/ros, you can download the package from any resources (example GitHub) -> put it in the src folder -> catkin_make to use this package

• If you are using ubuntu 16.04 -> change melodic to kinetic

Setup Ros environment

cd ~/education_robot_ws/
catkin_make

1. Manually control robot in simulation

To manual control robot, we only need to use 3 packages

• Keyboard control

cd  education_robot_ws
source devel/setup.bash
roslaunch edu_teleop edu_teleop_key.launch 

• Load gazebo and robot in environment

cd  education_robot_ws
source devel/setup.bash
export TURTLEBOT3_MODEL="burger"
roslaunch edu_gazebo edu_empty_world.launch

Results:

2. Autonomously control robot in simulation

Autonomous in Simulation: build map, run map

• To build maps we need 3 more packages: maps, third_party_package/gmapping, and edu_buildmap

1. Build map

• Add on third_party_package/gmapping, edu_buildmap, and maps. Then build the package with catkin_make

cd education_robot_ws
catkin_make

• Run system

In each termianl, always remember to active workspace.

cd  education_robot_ws
source devel/setup.bash

Terminal 1: manual control robot

roslaunch edu_teleop edu_teleop_key.launch 

Terminal 2: observe map and robot

roslaunch edu_buildmap build_map_simulation.launch

Terminal 3: save map after finished.

cd  education_robot_ws
rosrun map_server map_saver -f ./src/maps/empty_world

Results:

2. Autonomous naviagation

• Add on third_party_package/teb_local_planner_tutorials. Then build the package with cakin_make

• Others Pre-requirements: amcl and move_base package

roslaunch edu_autonomous autonomous_simulation.launch

Results:

4. List of tips and trick

• Using python to call and terminate rosrun and

Run subprocess to transform coordinate between map and uwb sensor.

cd roboticfd/utils
python run_subprocess.py

Result:

Awesome Resources:

• https://github.com/ROBOTIS-GIT/turtlebot3_simulations
• https://github.com/kiloreux/awesome-robotics