ROS2 Auto Move Program

Objective of this program is to command a ROS2 robot to move after receiving button input. A simple ROS2 auto-move-to-(x,y)location-pause-then-return-dock with move-button, IR sensor input and light indicator output using Arduino Nano Pyfirmata. Program tested on Linorobot2 ROS2 Humble.

Photos, https://photos.app.goo.gl/61e1fWxteQxhhNdT8

Reference, https://github.com/ros-planning/navigation2/tree/main/nav2_simple_commander

How to use AutoMoveProgram

chmod +x /home/oto/Documents/otomoov.py

Check if otomoov.py is executable

ls /dev/tty*

Launch otomoov.py

ros2 launch linorobot2_bringup bringup.launch.py
ros2 launch linorobot2_navigation navigation.launch.py rviz:=true map:=/home/oto/linorobot2/linorobot2_navigation/maps/mapName.yaml
python3 /home/oto/Documents/otomoov2.py

Mapping & Navigation Quick Step

Mapping / SLAM

ros2 launch linorobot2_bringup bringup.launch.py
ros2 launch linorobot2_navigation slam.launch.py rviz:=true
ros2 run teleop_twist_keyboard teleop_twist_keyboard
cd linorobot2/linorobot2_navigation/maps
ros2 run nav2_map_server map_saver_cli -f mapName --ros-args -p save_map_timeout:=10000.

Navigation / AutoMoveProgram

ros2 launch linorobot2_bringup bringup.launch.py
ros2 launch linorobot2_navigation navigation.launch.py rviz:=true map:=/home/oto/linorobot2/linorobot2_navigation/maps/mapName.yaml
python3 /home/oto/Documents/example_nav_to_pose.py

Pyfirmata Issue-Solution

sudo apt remove brltty
pip install pyfirmata
sudo adduser yourusername dialout
ls /dev/tty*

Setting Initial Pose

Reference https://github.com/otomoov/AutoMoveProgram/blob/humble/navigation.yaml In the navigation.yaml set these values:

# custom mod
set_initial_pose: true
initial_pose:
  x: -0.0
  y: -0.0
  yaw: -0.0
# end custom mod

Setting Minimum Laser Range

Reference https://github.com/otomoov/AutoMoveProgram/blob/humble/navigation.yaml In the navigation.yaml set these values:

    scan:
      topic: /scan
      # min range
      raytrace_min_range: 0.6
      obstacle_min_range: 0.6
      # min range
      max_obstacle_height: 2.0
      clearing: True
      marking: True
      data_type: "LaserScan"
    base_scan:
      topic: /base/scan
      # min range
      raytrace_min_range: 0.6
      obstacle_min_range: 0.6
      # min range
      max_obstacle_height: 2.0
      clearing: True
      marking: True
      data_type: "LaserScan"