R.O.O.K and ECHO

Welcome to ROOK DROID and ECHO teams workspace for the Robotics Dojo 2024 competition. You can checkout the Technical design Paper for this project here

This workspace contains several key packages and resources to operate and simulate the robot.

• The dojo package is the main package.
• The articubot_one package is used as a reference.
• For detailed information on how to work with this ROS2 workspace, refer to the Articulated Robotics Tutorial.
• sllidar_ros2 handles the lidar functionality.
• diffdrive_arduino provides the hardware interface.

📝 Note: For proper operation on the Raspberry Pi, switch to the pi branch. If you encounter issues with the main branch on your PC or development machine, try using the demo branch.

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Packages Used

Official ROS2 Packages

• Gazebo (robot simulation)
• Rviz (visualization)
• Colcon (build system)
• teleop_twist_keyboard (teleoperation)
• twist_mux (command multiplexing)
• Nav2 (navigation)
• SLAM Toolbox (simultaneous localization and mapping)
• ros2_control (control)

For installation instructions, see README_dojo.md.

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GitHub-Sourced Packages

• SLLidar ROS2

  • Repository: Slamtec/sllidar_ros2

• DiffDrive Arduino (Humble Branch)

  • Repository: joshnewans/diffdrive_arduino
  • Utilizes an Arduino Uno running ros_arduino_bridge. You can checkout the ros_arduino_bridge branch for the code used in our implementation.

Reference Package

• Articubot One
  • Repository: joshnewans/articubot_one
  • Based on the Articulated Robotics Tutorial.

Customized GitHub Package

• Dojo
  • Repository: ru3ll/dojo

Note: For the RPLIDAR, the used package is SLLidar ROS2, not the one used in the Articulated Robotics Tutorial.

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Running the Robot or Simulation

📝 Note: To run the robot on Raspberry Pi, switch to the pi branch.

On the Robot (Raspberry Pi) — pi Branch

If you only want to run the simulation, skip the robot commands and execute the following on your PC workspace (using the main branch):

ros2 launch dojo launch_sim.launch.py world:=./src/dojo/worlds/dojo2024

For real-world robot operation, use the following commands:

1. Launch the robot:

   ros2 launch dojo launch_robot.launch.py

2. Give read/write permissions to the serial device for sllidar_ros2:

   sudo chmod 777 /dev/ttyUSB0

3. Launch RPLIDAR A1:

   ros2 launch sllidar_ros2 sllidar_a1_launch.py

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On the PC — main Branch

1. Launch twist_mux for velocity commands:

   ros2 run twist_mux twist_mux --ros-args --params-file ./src/dojo/config/twist_mux.yaml -r cmd_vel_out:=diff_cont/cmd_vel_unstamped

2. Launch Rviz for visualization:

   rviz2 -d ./src/dojo/rviz/default.rviz

3. Launch teleop for keyboard control OR use joystick:

   ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r /cmd_vel:=/cmd_vel_key

   ros2 launch dojo joystick.launch.py

4. Launch SLAM for simultaneous localization and mapping:

   ros2 launch slam_toolbox online_async_launch.py slam_params_file:=./src/dojo/config/mapper_params_online_async.yaml use_sim_time:=false

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Navigating the Robot

After completing the above steps, choose one of the following options based on your setup and replace my_map_save with the name of your map saved in the workspace folder:

Option 1: Launch Nav2

• Using dojo's navigation launch:

ros2 launch dojo navigation_launch.py use_sim_time:=false

• Using nav2's navigation launch:

ros2 launch nav2_bringup navigation_launch.py use_sim_time:=false

Option 2: Localization with AMCL

• Using dojo's localization launch:

  ros2 launch dojo localization_launch.py map:=./my_map_save.yaml use_sim_time:=false

• Or using Nav2's localization launch:

  ros2 launch nav2_bringup localization_launch.py map:=./my_map_save.yaml use_sim_time:=false

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• Using dojo's navigation launch:

  ros2 launch dojo navigation_launch.py use_sim_time:=false map_subscribe_transient_local:=true params_file:=./src/dojo/config/nav2_params.yaml

• Or using Nav2's navigation launch:

  ros2 launch nav2_bringup navigation_launch.py use_sim_time:=false map_subscribe_transient_local:=true params_file:=./src/dojo/config/nav2_params.yaml

For more details, refer to README_dojo.md.

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