ugv_ws Workspace Description (Stable)

This is a fork from https://github.com/waveshareteam/ugv_ws.git, created for the course 'Vision for Autonomous Robots' at the University of Amsterdam.

In the original code of Waveshare, there is explicit reference to the home-directory '/home/ws', while on the UGV itself the home-directory can be found at '/home/jetson'. At your own machine, you will have own configuration.

1.Environment

• pc software：Ubuntu 22.04, ROS2 Humble
• ugv Version：UGV ROVER、UGV BEAST

2.Architecture

• project：https://github.com/DUDULRX/ugv_ws/tree/ros2-humble -> https://github.com/waveshareteam/ugv_ws.git -> https://github.com/IntelligentRoboticsLab/ugv_ws.git

  cd 
  git clone -b ros2-humble-develop https://github.com/IntelligentRoboticsLab/ugv_ws.git

  • Before your first compilation, you should first install a number of dependencies

    cd ~/ugv_ws
    source install_additional_ros_humble_packages.sh

    install_additional_ros_humble_packages.sh content

    sudo apt-get install ros-humble-nav2-msgs ros-humble-map-msgs
    sudo apt-get install ros-humble-nav2-costmap-2d
    sudo apt-get install ros-humble-rosbridge-suite
    sudo apt-get install ros-humble-nav2-bringup
    sudo apt-get install ros-humble-usb-cam ros-humble-depthai-*
    sudo apt-get install ros-humble-joint-state-publisher-*
    sudo apt-get install ros-humble-robot-localization
    sudo apt-get install ros-humble-imu-tools
    sudo apt-get install ros-humble-cartographer-ros
    sudo apt-get install ros-humble-apriltag ros-humble-apriltag-msgs ros-humble-apriltag-ros
    sudo apt-get install ros-humble-ros-gz

  • First compilation on the virtual machine (compiling one by one on the pi or jetson)

    cd ~/ugv_ws
    . build_first.sh

    build_first.sh content

    cd ~/ugv_ws/
    colcon clean workspace
    colcon build --cmake-args -Wno-dev --packages-select cartographer costmap_converter_msgs explore_lite --executor sequential  --symlink-install
    colcon build --cmake-args -Wno-dev --packages-select openslam_gmapping slam_gmapping --executor sequential  --symlink-install
    colcon build --cmake-args -Wno-dev --packages-select ldlidar rf2o_laser_odometry robot_pose_publisher teb_msgs --executor sequential  --symlink-install
    colcon build --cmake-args -Wno-dev --packages-select ugv_base_node ugv_interface ugv_bringup ugv_chat_ai ugv_description ugv_gazebo ugv_nav ugv_slam ugv_tools ugv_vision ugv_web_app --executor sequential  --symlink-install
    chmod +x ~/ugv_ws/src/ugv_else/vizanti/vizanti_server/scripts/*.py
    colcon build --cmake-args -Wno-dev --packages-select vizanti vizanti_cpp vizanti_demos vizanti_msgs vizanti_server --executor sequential  --symlink-install
    
    # echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc ## already done in install_additional_ros_humble_packages.sh
    # echo ""export ROS_DOMAIN_ID=42" >> ~/.bashrc # change ROS_DOMAIN_ID to your group-number
    echo "source ~/ugv_ws/install/setup.bash" >> ~/.bashrc
    echo "export UGV_MODEL=ugv_rover" >> ~/.bashrc
    echo "export LDLIDAR_MODEL=ld19" >> ~/.bashrc
    source ~/.bashrc 

  • Daily compilation after first build:

    cd ~/ugv_ws
    . build_common.sh

    build_common.sh content

    cd ~/ugv_ws
    colcon build --cmake-args -Wno-dev --packages-select cartographer costmap_converter_msgs explore_lite --executor sequential  --symlink-install
    colcon build --cmake-args -Wno-dev --packages-select openslam_gmapping slam_gmapping --executor sequential  --symlink-install
    colcon build --cmake-args -Wno-dev --packages-select ldlidar rf2o_laser_odometry robot_pose_publisher teb_msgs  --executor sequential  --symlink-install
    colcon build --cmake-args -Wno-dev --packages-select ugv_base_node ugv_interface ugv_bringup ugv_chat_ai ugv_description ugv_gazebo ugv_nav ugv_slam ugv_tools ugv_vision ugv_web_app --executor sequential  --symlink-install 
    colcon build --cmake-args -Wno-dev --packages-select vizanti vizanti_cpp vizanti_demos vizanti_msgs vizanti_server --executor sequential  --symlink-install
    source install/setup.bash 

  • Compile apriltag

    cd ~/ugv_ws
    . build_apriltag.sh

    build_apriltag.sh content

    cd ~/ugv_ws
    colcon build --cmake-args -Wno-dev --packages-select apriltag apriltag_msgs apriltag_ros --executor sequential  --symlink-install

• Python3 Library：

  cd ~/ugv_ws/
  python3 -m pip install -r requirements.txt
  echo "export PATH=$PATH:$HOME/.local/bin" >> ~/.bashrc

  requirements.txt content

  pyserial
  flask
  mediapipe
  requests
  pygame

• Feature pack ugv_ws

  ugv_main Main functions

  ugv_base_node Two-wheel differential kinematics

  ugv_bringup drive, control

  ugv_chat_ai web ai interaction

  ugv_description Model

  ugv_gazebo simulation

  ugv_interface Information interface

  ugv_nav navigation

  ugv_slam Mapping

  ugv_tools tool

  ugv_vision visual interaction

  ugv_web_app web

  ugv_else ( ugv_main dependence)

  apriltag_ros

  cartographer

  costmap_converter

  emcl_ros2

  explore_lite

  gmapping

  ldlidar

  rf2o_laser_odometry

  robot_pose_publisher

  teb_local_planner

  vizanti

3.Usage

The ugv-packages have several parameters, including:

• use_rviz optional true, false (default)

• car model optional rasp_rover, ugv_rover, ugv_beast

• lidar model optional ld06, ld19 (default), stl27l

Graphical tools like rviz only work when you have a display. So, run those tools on your laptop, and the drivers on the UGV Rover

• View model joints

  • ugv_rover

    export UGV_MODEL=ugv_rover

    start up on (executed on your laptop)

     ros2 launch ugv_description display.launch.py use_rviz:=true

    

  • Start the car (executed at the UGV Rover)

     ros2 run ugv_bringup ugv_driver

  • Make sure that your UGV Rover is on the ground. Alternatively lift the wheels from the table by placing the base on a small box.

    ros2 topic pub --once /cmd_vel geometry_msgs/msg/Twist "{linear : {x: 2.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 1.8}}"  

    Control the light data 0-255 data[0] control the light IO4 near the oak camera data[1] control the light IO5 near the usb camera

    ros2 topic pub /ugv/led_ctrl std_msgs/msg/Float32MultiArray "{data: [0, 0]}" -1

• Chassis driver (executed at the UGV Rover)

  export LDLIDAR_MODEL=LD19

    ```jsx
    ros2 launch ugv_bringup bringup_lidar.launch.py use_rviz:=false
    ```
  

• Joystick, keyboard control

  Start the car (executed at the UGV Rover)

  ros2 launch ugv_bringup bringup_lidar.launch.py use_rviz:=true

  • Joystick control (can be executed at the UGV Rover or your own laptop, as long as you are in the same ROS_DOMAIN_ID)

    ros2 launch ugv_tools teleop_twist_joy.launch.py

  • keyboard control

    ros2 run ugv_tools keyboard_ctrl

    

The other functionalities are explained in the documention of the each of the ugv-packages

    The saved points will also be stored in the file.
    
    ![image.png](images/The%20saved%20points%20will%20also%20be%20stored%20in%20the%20file.png)