このパッケージの用途

created by ©︎niscode

ここではTeleco-V（台車）を使って、

• gmappingを用いたSLAM や、
• dwa（障害物回避）と自己位置推定（amcl）を用いたナビゲーション などを実行するためのlaunchファイルが格納されます。

[1/3] Ubuntu20.04 / ROS-noetic　環境を構築するための手順

• git clone git@github.com:niscode/scripts.git
• 上記のリポジトリをホームディレクトリに配置後、$ ./ros-noetic-setup.sh を実行。
• 手順通りに進めると　$ roscore できるようになります。

[2/3] Ubuntu20.04 / ROS-noetic　環境で動作に必要なパッケージ群は以下の通りです。

• sudo apt -y install ros-noetic-rosserial
• sudo apt -y install ros-noetic-slam-gmapping
• sudo apt -y install ros-noetic-navigation
• ros-noetic-map-server
• ros-noetic-jsk-visualization

• cd catkin_ws/src
• git clone https://github.com/niscode/telecoV.git
• git clone https://github.com/Slamtec/rplidar_ros.git
• git clone https://github.com/iralabdisco/ira_laser_tools.git
• git clone https://github.com/GT-RAIL/robot_pose_publisher.git

• cd catkin_ws
• catkin_make

[3/3] USB接続されたデバイスファイル名の固定するための手順 （melodic/noetic共通）

• roscd telecoV/scripts
• nano rplidar.rules
• 上記ファイルを編集して、対応するRPLiDARや台車のボードのシリアルNoを指定します。
• ./create_udev_rules.sh
• sudo reboot

gmappingによる地図作成は以下のように実行します。

• roslaunch telecoV dual_gmapping.launch

navigationによる自律移動は以下のように実行します。

• roslaunch telecoV dual_naivation.launch

cylinder昇降用スライダを表示するには以下を実行します。

• rosrun telecoV cylinder.py
  
• スライダーを上下に動かし、任意の位置で Update ボタンを押すことで動作します。
• ※ rosrun rosserial_python serial_node.py _port:=/dev/ROVER_BOARD _baud:=115200 が実行中か、 navigationなどのパッケージ実行中のみ、昇降が可能です。

Additional Node Descriptions

waypoint_server_node.py

This node offers local waypoint setting, serializing, de-serializing and editing functions (CRUD). It publishes the most recent set of waypoints on the topic “/waypoint_server/waypoints” and uses InteractiveMarkers to allow easy editing of the waypoints with rviz. It offers its full functionality via an optional local CLI (check help command) and exposes basic functions through service calls.

Uses: waypoint_server.launch

Subscribed Topics

clicked_point (geometry_msgs::PointStamped)

 Adds point with automatic name when using rviz’s “Publish Point” function.

Published Topics

waypoint_server/waypoints (telecoV.msg::WaypointArray)

 Publishes most recent local waypoints

move_base/goal (move_base_msgs::MoveBaseActionGoal)

 Used for “Navigate Here” function of InteractiveMarkers

move_base/cancel (actionlib_msgs::GoalID)

 Used for the “stop” navigation function of the CLI

Services

waypoint_server/add (telecoV.srv::WaypointService)

 Adds a new waypoint at 0,0,0 with name of argument string.

waypoint_server/remove (telecoV.srv::WaypointService)

 Removes waypoint with name of argument string.

waypoint_server/add_here (telecoV.srv::WaypointService)

 Adds a new waypoint robot position with name of argument string.

Parameters

waypoint_server/waypoint_filepath (string, default: "/tmp/waypoints.bin")

 Filepath of were to safe the waypoints after node gets closed.

waypoint_server/reference_frame (string, default: "map")

 Reference frame for the waypoints.

waypoint_server/robot_frame (string, default: "base_link")

 Robot frame the transform from the reference frame is used of.

waypoint_server/cli (bool, default: "False")

 Whether to spawn a command line in the console. If it is used it should be ended via the "quit" command before Ctrl-C kills the node.

patrol_node.py

This node offers functionality to control patrolling over a given waypoint list.

Uses: patrol.launch

Subscribed Topics

waypoint_server/waypoints (telecoV.msg::WaypointArray)

 Used to always patrol to the most up-to-date waypoints.

move_base/status (actionlib_msgs::GoalStatusArray)

 Internally used to determine behavior based on navigation state.

Services

patrol/start (telecoV.srv::PatrolService)

 If empty -> random patrol, if one waypoint -> drive to point and end patrol, if len(waypoints) > 1 -> drive to waypoints in given order and start over at end.

patrol/cancel (std_srvs::Empty)

 Ends patrol after reaching current waypoint.

Parameters

waypoint_server/reference_frame (string, default: "map")

 Reference frame for the waypoints.

waypoint_server/robot_frame (string, default: "base_link")

 Robot frame the transform from the reference frame is used of.

safety_watchdog_simple.py

This node constantly monitors the LaserScan data published on “/scan” and if proximity falls short of threshold cancels the patrol and the current navigation so that the robot stops. The teleoperator has to make sure the robot gets moved out of the obstacle and then can restart the patrol.

Subscribed Topics

scan (sensor_msgs::LaserScan)

 Subscribes to laserScan topic and checks for proximity violations.

Published Topics

move_base/cancel (actionlib_msgs::GoalID)

 In case of obstacle is detected closer than the proximity threshold cancel current navigation and stop robot at its current location.

Services

patrol/cancel (std_srvs::Empty)

 In case of obstacle is detected closer than the proximity threshold calls to end current patrol.

robot_status_node.py

This node collects information from several node and re-sends them in a custom message as a central information point.

Uses: robot_status.launch

Subscribed Topics

move_base/status (move_base_msgs::GoalStatusArray)

 Listens to get the latest status of the navigation stack.

move_base/goal (move_base_msgs::MoveBaseActionGoal)

 Listens to know the latest navigation goal.

robot_status/console_msg (telecoV.msg::StringArray)

 Listens to custom string array message which can be appended to a log window on the operator side.

Published Topics

robot_status/status (telecoV.msg::RobotStatus)

 Please check message definition for content information.

Parameters

waypoint_server/reference_frame (string, default: "map")

 Reference frame for the waypoints.

waypoint_server/robot_frame (string, default: "base_link")

 Robot frame the transform from the reference frame is used of.

conveniences_server_node.py

This node offers basic functions for the base, which can be used to support the interaction.

Uses: convenience_server.launch

Subscribed Topics

robot_status/status (telecoV.msg::RobotStatus)

 For future use.

Published Topics

convenience_server/debug/goal_heading (geometry_msgs::PoseStamped)

 Publishes the requested heading for debug purposes.

Services

convenience_server/goal_heading (telecoV.srv::GoalHeadingService)

 Requests the relative rotation of the robot in reference to the given goal.

convenience_server/relative_turn (telecoV.srv::RelativeTurnService)

 Uses move_base to turn the robot in-place by the given rotation value.

Parameters

waypoint_server/reference_frame (string, default: "map")

 Reference frame for the waypoints.

waypoint_server/robot_frame (string, default: "base_link")

 Robot frame the transform from the reference frame is used of.