Real kobuki

CustomRobots/CMakeLists.txt

@@ -81,6 +81,8 @@ install(
     Turtlebot2/turtlebot2_simulated/turtlebot2/launch
     Turtlebot2/turtlebot2_simulated/turtlebot2/rviz
     Turtlebot2/turtlebot2_simulated/turtlebot2/urdf
+    Turtlebot2/Turtlebot2_physical/kobuki_launch/config
+    Turtlebot2/Turtlebot2_physical/kobuki_launch/launch
     # F1
     f1/models
     f1/params

CustomRobots/Turtlebot2/Turtlebot2_physical/kobuki_instructions/README.md

@@ -1,50 +1,65 @@
 # Setup Kobuki base
 
 1. Download Kobuki_base repositories with drivers and utils inside your workspace (inside src directory):
-~~~
+
+```
 vcs import < /kobuki_instructions/repos
-~~~
+```
 
 2. Ensure you have all dependencies:
-~~~
+
+```
 cd <workspace_root> && rosdep install --from-paths src --ignore-src -r -y
-~~~
+```
 
 3. Build workspace:
-~~~
+
+```
 cd <workspace_root> && colcon_build --symlink-install
-~~~
+```
 
 4. Source workspace:
-~~~
+
+```
 source <workspace_root>/install/setup.bash
-~~~
+```
+
 #
+
 ## Try Kobuki
+
 Connect serial cable to the Robot and **Switch Kobuki ON**.
- 
+
 Kobuki’s default means of communication is over usb (it can instead use the serial comm port directly, more on that later). On most linux systems, your Kobuki will appear on /dev/ttyUSBO as soon as you connect the cable. This is a typical serial2usb device port and if you happen to be using more than one such device, Kobuki may appear at ttyUSB1, ttyUSB1, …
-~~~
+
+```
 ls /dev/ttyUSB0
-~~~ 
+```
+
 In order to provide a constant identifier for the connection, use the udev rule prepared in kobuki_ftdi:
-~~~
+
+```
 sudo cp <workspace_root>/src/kobuki_ftdi/60-kobuki.rules /etc/udev/rules.d
 sudo service udev reload
 sudo service udev restart
-~~~
+```
+
 Check for existance of `/dev/kobuki`
-~~~
+
+```
 ls /dev/kobuki
-~~~
+```
 
 Does kobuki appear as USB device?
-~~~
+
+```
 lsusb
 0403:6001 Future Technology Devices International, Ltd FT232 USB-Serial (UART) IC
-~~~
+```
+
 Do you see it in dmesg when you insert the usb cable?
-~~~
+
+```
 dmesg
     [  118.984126] usb 3-1: new full-speed USB device number 5 using xhci_hcd
     [  119.139253] usb 3-1: New USB device found, idVendor=0403, idProduct=6001
@@ -59,36 +74,64 @@ dmesg
     [  119.152505] ftdi_sio 3-1:1.0: FTDI USB Serial Device converter detected
     [  119.152530] usb 3-1: Detected FT232RL
     [  119.152665] usb 3-1: FTDI USB Serial Device converter now attached to ttyUSB0
-~~~
+```
+
 and when you remove it?
-~~~
+
+```
 dmesg
     [  184.386124] usb 3-1: USB disconnect, device number 5
     [  184.386507] ftdi_sio ttyUSB0: FTDI USB Serial Device converter now disconnected from ttyUSB0
     [  184.386547] ftdi_sio 3-1:1.0: device disconnected
-~~~
+```
 
 Get the serial number:
 
-~~~
+```
 sudo <workspace>/install/kobuki_ftdi/lib/kobuki_ftdi/get_serial_number
     1 device(s) found.
 
     Device #0
       Manufacturer : Yujin Robot
       Product      : iClebo Kobuki
       Serial Number: kobuki_A505QO28
-~~~
-
+```
 
 Finally try to move Kobuki robot:
+
 1. Launch Kobuki_node with specific configuration ( provided inside kobuki_launch package):
-~~~
+
+```
 ros2 launch kobuki_launch kobuki_base.launch.py
 # check that ros topics appear:
 ros2 topic list
 # teleoperate robot:
 ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args --remap /cmd_vel:=/commands/velocity
-~~~
+```
+
+_Change topic names if necessary inside kobuki_ros/kobuki_node/src/kobuki_ros.cpp_
 
-*Change topic names if necessary inside kobuki_ros/kobuki_node/src/kobuki_ros.cpp* 
+cd /home/ws
+apt install ros-humble-image-geometry libuvc-dev nlohmann-json3-dev
+apt install ros-humble-diagnostic-updater
+apt install ros-humble-image-publisher
+cd src/CustomRobots/Turtlebot2/Turtlebot2_physical
+vcs import < kobuki_instructions/repos
+cd ..
+cd ..
+rosdep install --from-paths src --ignore-src -r -y
+cd src/CustomRobots/
+cd Turtlebot2/Turtlebot2_physical/
+mv ecl ../../../ecl
+mv kobuki_core ../../../kobuki_core
+mv kobuki_ftdi ../../../kobuki_ftdi
+mv kobuki_ros ../../../kobuki_ros
+mv kobuki_iterfaces ../../../kobuki_iterfaces
+mv kobuki_ros_iterfaces ../../../kobuki_ros_iterfaces
+mv sophus ../../../sophus
+cd ../../..
+colcon build --symlink-install --packages-ignore kobuki_ftdi
+cd src
+git clone https://github.com/Juancams/ros_astra_camera.git
+cd ..
+colcon build --symlink-install --packages-ignore kobuki_ftdi

CustomRobots/Turtlebot2/Turtlebot2_physical/kobuki_launch/launch/kobuki_base.launch.py

@@ -3,10 +3,11 @@
 from launch import LaunchDescription
 from launch_ros.actions import Node
 import yaml
+from launch_ros.substitutions import FindPackageShare
 
 
 def generate_launch_description():
-    shared_dir = get_package_share_directory("kobuki_launch")
+    shared_dir = FindPackageShare(package="custom_robots").find("custom_robots")
 
     params_file = os.path.join(shared_dir, "config", "kobuki_node_params.yaml")
     with open(params_file, "r") as f:

Launchers/follow_person_real.launch.py

@@ -0,0 +1,119 @@
+import os
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
+from launch.conditions import IfCondition, UnlessCondition
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import Command, LaunchConfiguration, PythonExpression
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+
+
+def generate_launch_description():
+
+    # Set the path to the Gazebo ROS package
+    pkg_gazebo_ros = FindPackageShare(package="gazebo_ros").find("gazebo_ros")
+
+    # Set the path to the Turtlebot2 ROS package
+    pkg_share_dir = FindPackageShare(package="custom_robots").find("custom_robots")
+
+    # Set Turtlebot2 Arguments
+    x_turtlebot2_position = "0"
+    y_turtlebot2_position = "10"
+    z_turtlebot2_position = "0"
+
+    declare_x_position_cmd = DeclareLaunchArgument(
+        "-x",
+        default_value=x_turtlebot2_position,
+        description="Position on the axis x of Turtlebot2",
+    )
+    declare_y_position_cmd = DeclareLaunchArgument(
+        "-y",
+        default_value=y_turtlebot2_position,
+        description="Position on the axis y of Turtlebot2",
+    )
+    declare_z_position_cmd = DeclareLaunchArgument(
+        "-z",
+        default_value=z_turtlebot2_position,
+        description="Position on the axis z of Turtlebot2",
+    )
+
+    world_file_name = "hospital_follow_person.world"
+    worlds_dir = "/opt/jderobot/Worlds"
+    world_path = os.path.join(worlds_dir, world_file_name)
+
+    # Set the path to the SDF model files
+    gazebo_models_path = os.path.join(pkg_share_dir, "models")
+    os.environ["GAZEBO_MODEL_PATH"] = (
+        f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}"
+    )
+
+    ########### YOU DO NOT NEED TO CHANGE ANYTHING BELOW THIS LINE ##############
+    # Launch configuration variables specific to simulation
+    headless = LaunchConfiguration("headless")
+    use_sim_time = LaunchConfiguration("use_sim_time")
+    use_simulator = LaunchConfiguration("use_simulator")
+    world = LaunchConfiguration("world")
+
+    declare_simulator_cmd = DeclareLaunchArgument(
+        name="headless",
+        default_value="False",
+        description="Whether to execute gzclient",
+    )
+
+    declare_use_sim_time_cmd = DeclareLaunchArgument(
+        name="use_sim_time",
+        default_value="False",
+        description="Use simulation (Gazebo) clock if true",
+    )
+
+    declare_use_simulator_cmd = DeclareLaunchArgument(
+        name="use_simulator",
+        default_value="False",
+        description="Whether to start the simulator",
+    )
+
+    declare_world_cmd = DeclareLaunchArgument(
+        name="world",
+        default_value=world_path,
+        description="Full path to the world model file to load",
+    )
+
+    # Specify the actions
+
+    # Start Gazebo server
+    start_gazebo_server_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(pkg_gazebo_ros, "launch", "gzserver.launch.py")
+        ),
+        condition=IfCondition(use_simulator),
+        launch_arguments={"world": world, "pause": "true"}.items(),
+    )
+
+    start_turtlebot2_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(pkg_share_dir, "launch", "kobuki_base.launch.py")
+        ),
+        launch_arguments={
+            "-x": x_turtlebot2_position,
+            "-y": y_turtlebot2_position,
+            "-z": z_turtlebot2_position,
+        }.items(),
+    )
+
+    # Create the launch description and populate
+    ld = LaunchDescription()
+
+    # Declare the launch options
+    ld.add_action(declare_simulator_cmd)
+    ld.add_action(declare_use_sim_time_cmd)
+    ld.add_action(declare_use_simulator_cmd)
+    ld.add_action(declare_world_cmd)
+    ld.add_action(declare_x_position_cmd)
+    ld.add_action(declare_y_position_cmd)
+    ld.add_action(declare_z_position_cmd)
+
+    # Add any actions
+    ld.add_action(start_gazebo_server_cmd)
+    ld.add_action(start_turtlebot2_cmd)
+
+    return ld

database/universes.sql

@@ -179,6 +179,7 @@ COPY public.universes (id, name, world_id, robot_id) FROM stdin;
 52 	Montreal Circuit Classic	52	0
 53 	Nurburgring Circuit Classic	53	0
 54 	Vacuums House Roof Classic	54	0
+55 	Real Follow Person	55	0
 \.
 
 
@@ -243,6 +244,7 @@ COPY public.worlds (id, name, launch_file_path, tools_config, ros_version, type,
 52	Montreal Circuit Classic	/opt/jderobot/Launchers/montreal_circuit_classic.launch.py	None	ROS2	gazebo	{0.0,0.0,0.0,0.0,0.0,0.0}
 53	Nurburgring Circuit Classic	/opt/jderobot/Launchers/nurburgring_circuit_classic.launch.py	None	ROS2	gazebo	{0.0,0.0,0.0,0.0,0.0,0.0}
 54	Vacuums House Roof Classic	/opt/jderobot/Launchers/montecarlo_visual_loc_classic.launch.py	None	ROS2	gazebo	{0.0,0.0,0.0,0.0,0.0,0.0}
+55	Real Follow Person	/opt/jderobot/Launchers/follow_person_real.launch.py	None	ROS2	physical	{0.0,0.0,0.0,0.0,0.0,0.0}
 \.
 
 --