Getting Started

1. Install Ubuntu 22.04
2. Setting Remote Desktop then remove password.
3. Install ROS HUMBLE
4. Clone this project to your colcon workspace src folder.
5. Run rosdep install -r -y --from-path src
6. Build the package: colcon build
7. Ff error Click Dependencies
8. In .bashrc file add command below file: export ROS_DOMAIN_ID=102 source /opt/ros/humble/setup.bash export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp

Running the Package

Run All Sensors : Terminal1

ros2 launch launch/start.launch.py

Run Navigation2 : Terminal2

ros2 launch nav2_bringup bringup_launch.py use_sim_time:=False autostart:=True map:=~/agv_ws/src/nav2_bringup/maps/map_1.yaml   

All Packages

• accel_decel
• agv_bot_description
• bno055
• cartographer_ros
• costmap_converter
• csm
• joy_tester
• navigation2
• odom_wheel
• omron_b5l_a
• omron_b5l_tof
• pointcloud_to_laserscan
• robot_localization
• ros2_laser_scan_matcher
• rplidar_ros
• rslidar_msg
• rslidar_sdk
• sam_bot_description
• slam_toolbox
• static_broadcaster
• teb_local_planner

Create Packages Cpp

ros2 pkg create <package_name> --build-type ament_cmake --dependencies rclcpp
ros2 pkg create static_broadcaster --build-type ament_cmake --dependencies rclcpp
ros2 pkg create --build-type ament_cmake agv_bot_description

Create Packages Python

ros2 pkg create <pkg-name> --dependencies [deps] --build-type ament_python
ros2 pkg create static_broadcaster --dependencies rclpy --build-type ament_python

ROSDEP

rosdep install -r -y --from-path src
rosdep install --from-paths src -y --ignore-src
rosdep install -q -y -r --from-paths src --ignore-src

COLCON BUILD

colcon build
colcon build --symlink-install
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
colcon build --packages-select <name-of-pkg>
colcon build --packages-select static_broadcaster

Teleop_Twist_Keyboard

ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args --remap cmd_vel:=/cmd_vel/remap

set up the API and then set the initial pose of the robot directly from code.

1) sudo apt install ros-humble-nav2-simple-commander
2) sudo apt install ros-humble-tf-transformations
3) sudo apt install python3-transforms3d
4) create nav2_poses.py & chmod +x nav2_poses.py
5) ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py
6) ros2 launch turtlebot3_navigation2 navigation2.launch.py use_sim_time:=True map:=/home/natthawe/turtlebot3_ws/src/turtlebot3/turtlebot3_navigation2/map/map.yaml
7) Run scripts ./nav2_poses.py

No GUI

1) ros2 launch nav2_bringup bringup_launch.py use_sim_time:=True map:=/home/natthawe/turtlebot3_ws/src/turtlebot3/turtlebot3_navigation2/map/map.yaml
2) Run scripts ./nav2_poses.py

Dependencies

sudo apt install ros-humble-urdf-tutorial
sudo apt install ros-humble-joint-state-publisher-gui
sudo apt install ros-humble-xacro
sudo apt install openssh-server
sudo apt install libyaml-cpp-dev
sudo apt install libpcap-dev
sudo apt install python3-pip
pip install setuptools==58.2.0
sudo apt install ros-humble-rmw-cyclonedds-cpp

SLAM

ALL Sensors

ros2 launch launch/start.launch.py

cartographer_ros

ros2 launch cartographer_ros wc_2d.launch.py

save map

ros2 run nav2_map_server map_saver_cli -f <map_name>

UDEV

50-bno055.rules

#KERNEL=="ttyUSB*", KERNELS=="1-6.1", ATTRS{idVendor}=="067b", ATTRS{idProduct}=="2303", MODE:="0666", SYMLINK+="bno055"

ACTION=="add", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6001", RUN+="/sbin/modprobe usbserial vendor=0x0403 product=0x6001", MODE="0666", GROUP="dialout"

50-omron.rules

#SUBSYSTEMS=="tty", KERNEL=="ttyUSB[0-9]*", ATTRS{idVendor}=="0590", ATTRS{idProduct}=="00ca", GROUP="dialout", MODE="0666"

#KERNEL=="ttyUSB*", KERNELS=="1-5", ATTRS{idVendor}=="0590", ATTRS{idProduct}=="00ca", MODE:="0666", SYMLINK+="omron"

ACTION=="add", ATTRS{idVendor}=="0590", ATTRS{idProduct}=="00ca", RUN+="/sbin/modprobe usbserial vendor=0x0590 product=0x00ca", MODE="0666", GROUP="dialout"    

50-teensy.rules

#KERNEL=="ttyACM*", KERNELS=="1-6.2", ATTRS{idVendor}=="16c0", ATTRS{idProduct}=="0483", MODE:="0666", SYMLINK+="teensy"

ACTION=="add", ATTRS{idVendor}=="16c0", ATTRS{idProduct}=="0483", RUN+="/sbin/modprobe usbserial vendor=0x16c0 product=0x0483", MODE="0666", GROUP="dialout"

50-rplidar.rules

#KERNEL=="ttyUSB*", ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="ea60", MODE:="0777", SYMLINK+="rplidar"

ACTION=="add", ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="ea60", RUN+="/sbin/modprobe usbserial vendor=0x10c4 product=0xea60", MODE="0666", GROUP="dialout"    

50-stm32.rules

ACTION=="add", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="374b", RUN+="/sbin/modprobe usbserial vendor=0x0483 product=0x374b", MODE="0666", GROUP="dialout"

reload udev

sudo udevadm info -a -p $(udevadm info -q path -n /dev/ttyUSB1)
sudo udevadm control --reload-rules
sudo udevadm trigger --subsystem-match=tty 

wheelchair001@wheelchair001:/ros2_bridge$ ros2 launch rosbridge_server rosbridge_websocket_launch.xml wheelchair001@wheelchair001:/ros_web_interface$ npm start http://10.1.10.146:3000/

Using tf2_echo

tf2_echo reports the transform between any two frames broadcasted over ROS.

ros2 run tf2_ros tf2_echo base_link laser