Monicar II ROS navigation Robot

This project is about ROS Package for navigation with DIY robot
Robot 3D model, BOM: Byungki
Circuit: Byungki, ZETA7
PCB layout: Byungki
Aruduino/ESP32 scketch: ZETA7
ROS code: ZETA7, Alpha, Byungki

Tested System information

Jetson Nano 4GB/2GB + RPLidar/YDLidar + ESP32 + DC motor with Encoder

• Ubuntu 20.04
• ROS2 Galactic

Packages with Brief Explanation

├── monicar2_bringup      => robot bringup, start uROS, RPLidar, IMU...
├── monicar2_cartographer => SLAM via cartographer
├── monicar2_description  => Show robot
├── monicar2_imuconverter => Make /imu/data topic, issues static TF
├── monicar2_localization => issue odometry, make ekfPose
├── monicar2_navigation2  => ros2 navigation2
├── monicar2_teleop       => teleop via keyboard, joystick(=gamepad)
├── arduino               => uROS on ESP32, udev rules, motor tester
(...)
├──
├── Images
├── LICENSE
├── README.md

Especially Thanks

Automatic Addision: https://automaticaddison.com/how-to-set-up-the-ros-navigation-stack-on-a-robot/
OMO R1 Mini: https://github.com/omorobot/omo_r1mini-foxy
ROBOTIZ: https://github.com/ROBOTIS-GIT/turtlebot3
Other Open Source sites

Monicar2, it uses ESP32 NodeMcu

create_udev_rules_esp32snode.sh, delete_udev_rules_esp32snode.sh, esp32sNodemcu.rules: udev rule for ESP32
create_udev_rules_rplidar.sh, delete_udev_rules_rplidar.sh, rplidar.rules: udev rule for RPLidar

ledBuzzer32Test.ino: Check LED, Buzzer
encoder32Test.ino: Check encoder tick
motorController32Test.ino: Check/Tune motor controller
motorEncLed32Ros.ino: ROS implementation, motor control and LED
motorEncLedMpu32Ros.ino: PROS implementation, motor control, and MPU6050
motorEncExtraRos/motorEncExtraRos.ino
. Please burn this sketch for ROS navigation,
. motorEncLed32Ros.ino + MPU6050 + OLED animation + Buzzer song

Overview

Diagram

Installation

Please download image from below location
https://drive.google.com/file/d/1Jhr4SIeKLocHbJyeximI-j3mksZNgxN3/view?usp=drive_link

id: jetson
passwd: jetson

Please follow instruction on blow Notion(in Korean)
https://zeta7.notion.site/Monicar-II-1ae110a410024d2291aba25e90d10875?pvs=4

Clone source

  cd {$workspace_path}/src/
  git clone https://github.com/orocapangyo/monicar2.git
  git clone -b $ROS_DISTRO https://github.com/micro-ROS/micro_ros_setup.git
  git clone -b ros2 https://github.com/Slamtec/rplidar_ros.git

Install dependency packages

Following additional packages may be reuqired to be installed.

• ros-galactic-cartographer-ros ros-galactic-nav2-map-server
• ros-galactic-rqt-robot-steering ros-galactic-imu-tools
• ros-galactic-tf2-py ros-galactic-tf2-tools ros-galactic-nav2-bringup ros-galactic-navigation2

sudo apt install -y ros-galactic-cartographer-ros ros-galactic-nav2-map-server \
ros-galactic-rqt-robot-steering ros-galactic-imu-tools \
ros-galactic-tf2-py ros-galactic-tf2-tools ros-galactic-nav2-bringup ros-galactic-navigation2

Build ROS2 source

• To build

  cd {$workspace_path}
  colcon build --symlink-install

• To enable the built source into ROS2 environment

  cd {$workspace_path}
  ./install/setup.bash

Play with the robot

• To give authority for driver access to MCU and LiDAR

cd {$workspace_path}/src/monicar2/monicar2_arduino
./create_udev_rules_esp32snode.sh
./create_udev_rules_rplidar.sh

• To teleoperate the robot using GAMEPAD

cd {$workspace_path}
# jetson , terminal 1
$ ros2 launch monicar2_bringup mcu.launch.py
#jetson or pc terminal 2
$ ros2 launch monicar2_teleop teleop_joy.launch.py

• To teleoperate the robot using KEYBOARD

cd {$workspace_path}
# jetson , terminal 1
$ ros2 launch monicar2_bringup mcu.launch.py
#jetson or pc terminal 2
$ ros2 run monicar2_teleop teleop_keyboard

SLAM with the robot

To conduct SLAM (Try after few seconds from MCU and LiDAR bringup)

• Cartographer

cd {$workspace_path}
$ ros2 launch monicar2_localization ekfPose.launch.py
# or using another options
# example) teleop_joy, not using description
$ ros2 launch monicar2_localization ekfPose.launch.py use_joy:='true' use_des:='false'

#terminal #2, recommand PC than Jetson
$ ros2 launch monicar2_cartographer cartographer.launch.py
#terminal #3, recommand PC than Jetson
$ ros2 launch monicar2_cartographer cartographer_rviz.launch.py

• Slam_toolbox

#terminal #1, Jetson
cd {$workspace_path}
$ ros2 launch monicar2_localization ekfPose.launch.py
# or using another options
# example) teleop_joy, not using description
$ ros2 launch monicar2_localization ekfPose.launch.py use_joy:='true' use_des:='false'

#terminal #2,recommand PC than Jetson
$ ros2 launch nav2_bringup navigation_launch.py
#terminal #3,recommand PC than Jetson
$ ros2 launch slam_toolbox online_async_launch.py
#terminal #4, recommand PC than Jetson
$ ros2 launch monicar2_navigation2 slamtoolbox_rviz.launch.py

• Once mapping is done, you can create map.pgm and map.yaml file by executing

cd {$HOME}
ros2 run nav2_map_server map_saver_cli -f map

• To conduct path planning & following, close all previsous launch.py

#terminal #1, Jetson
cd {$workspace_path}
$ ros2 launch monicar2_localization ekfPose.launch.py initPose:='false'
# or using another options
# example) not using description
$ ros2 launch monicar2_localization ekfPose.launch.py initPose='false' use_des:='false'

#terminal #2,recommand PC than Jetson
$ ros2 launch monicar2_navigation2 navigation2.launch.py map:=./mymap.yaml
#terminal #3, recommand PC than Jetson
$ ros2 launch monicar2_navigation2 navigation2_rviz.launch.py