TurtleBot2

**

TurtleBot2

Background

A TurtleBot is a low-cost, personal robot kit with open-source software. TurtleBots can move, map, and navigate environments, making them useful for mobile computer vision experiments. This project uses the TurtleBot2 with a Kobuki base. This version has a mobile base, a Kinect camera, and a sensor to see its surroundings to measure distances and help map its environment. And we have 7 of them.

Goal

Create an automatically deployed system in which all 7 robots can communicate with one other and move together as a swarm. This system will be used to interact with people and investigate human-robot behavior.

Components:

LiDAR Sensor (replaces Xbox 360 Kinect)
Speaker
Raspberry Pi (replaces Jetson TK1)
Kobuki Base
Robot Body
Battery

LiDAR Sensor

The LiDAR (Light Detection and Ranging) is a remote sensing technology that uses laser beams to measure distances and create detailed 3D maps of the environment. On the TurtleBots, the LiDAR sensor is mounted on top of the robot to provide a 360-degree range of measurements. We used a cardboard box to place it above the existing Kinect sensor.

Raspberry Pi

The brain of the computer/robot, this is where all the calculations and decisions are made. In this research I use Raspberry Pi 4 Model B 8GB with Starter Kit (including case, fan, heat sync, charger, etc.).

Link from Amazon: Raspberry Pi

Getting Started

Install Ubuntu Desktop on Raspberry Pi 4 8GB:

Install Ubuntu Desktop on Raspberry Pi on Micro SD Card (32 GB preferred ____)
Download the Raspberry Pi Imager
Open Raspberry Pi Imager
Choose device: Raspberry Pi 4
Choose OS: Other general-purpose OS -> Ubuntu -> Ubuntu Server 20.04.05 LTS (64-bit)
Choose Storage: your Micro SD Card
Choose Next -> Edit setting
The hostname, username, password, etc. can be anything. We configured wireless LAN and used:
- Hostname: ubuntu
- Username: SaPHaRI
- Password: 7TurtleBotsX! (with X being our assigned TurtleBot numbers)
- Configured wireless LAN to our own lab network

In Services: Enable SSH (Use password authentication)
In Options: Depends on you

Choose yes: Your files in Micro SD Card will erase and install Ubuntu Server instead
Wait until it finishes
Insert Micro SD Card into Raspberry Pi
Connect Keyboard, Mouse, External Monitor (Micro HDMI to Regular HDMI) before powering up the Raspberry Pi
After powering up the Raspberry Pi, it should boot up the Ubuntu Server
When it shows cloud-init … finish at..

Ctrl + Alt + F2
Login with your username and password that you set up in the beginning
Update & Upgrade
- sudo apt update
- sudo apt upgrade
- sudo apt update && sudo apt upgrade -y (Recommended)
Install Ubuntu Desktop
- sudo apt install ubuntu-desktop -y
- startx (To enter Ubuntu desktop)

SSH:

SSH with ssh <username>@<ip>
- Our case it is ssh SaPHaRI@192.168.0.___

Install ROS Noetic:

Links “ROS Noetic”
Install ROS Noetic Desktop Full version
- Setup your sources.list
  - sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
- Setup your keys
  - sudo apt install curl
  - curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
- Installation
  - sudo apt update && sudo apt upgrade -y
  - sudo apt install ros-noetic-desktop-full -y
- Environment setup
  - echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
  - source ~/.bashrc
  - In the environment options you can use zshrc or bash, I use bash
- Dependencies for building packages
  - sudo apt install python3-rosdep python3-rosinstall python3-rosinstall-generator python3-wstool build-essential -y
- Initialize rosdep
  - sudo apt install python3-rosdep
  - sudo rosdep init
  - rosdep update

You can skip the next section by cloning the end result of kobuki_ws here. Else, follow the next section to do it manually.

Setting up the workspace

Open your terminal
- Make your workspace with mkdir kobuki_ws
- cd kobuki_ws/
- mkdir src
- catkin_make (builds the workspace)
Run cd src/ then clone these repositories in the src:
- git clone https://github.com/yujinrobot/kobuki.git
- git clone https://github.com/turtlebot/turtlebot.git
- git clone https://github.com/yujinrobot/yujin_ocs.git
- git clone https://github.com/turtlebot/turtlebot_msgs.git
- git clone https://github.com/turtlebot/turtlebot_apps.git
- git clone https://github.com/turtlebot/turtlebot_simulator.git
- git clone https://github.com/OpenKinect/libfreenect.git
- git clone https://github.com/ros-drivers/freenect_stack.git
- git clone https://github.com/Slamtec/rplidar_ros.git
Install:
- sudo apt install ros-noetic-rtabmap-ros -y
- sudo apt-get install ros-noetic-pointcloud-to-laserscan -y
- sudo apt install liborocos-kdl-dev
Configuration
- Head to kobuki_ws/src/yujin_ocs then delete the all files except for
  - yocs_cmd_vel_mux
  - yocs_controllers
  - yocs_velocity_smoother
Run rosdep (for ROS dependencies) command
- cd kobuki_ws/
- rosdep install --from-paths src --ignore-src -r -y
- rosdep update
- catkin_make
Source the workspace with source devel/setup.bash
Test connection to the TurtleBot
- lsusb (to check if the TurtleBot is connected or not)
- roslaunch turtlebot_bringup minimal.launch
If there is an error related to python, try:
- python3 --version
- sudo ln -s /usr/bin/python3 /usr/bin/python
After turning on the Raspberry Pi again might have an error
- catkin_make
- source devel/setup.bash
Run the desired command again
- Use this command to avoid running source devel/setup.bash every time after catkin_make
- echo "source your_ws/devel/setup.bash" >> ~/.bashrc
- source ~/.bashrc

Piloting the TurtleBot: Keyboard

In one terminal, run roslaunch turtlebot_bringup minimal.launch. In another, run roslaunch turtlebot_teleop keyboard_teleop.launch and follow the instructions of the file.

Piloting the TurtleBot: Controller

Pairing via CLI. If pairing with GUI, skip this segment.
- Get the MAC address of your controller. We used this pink Xbox One S controller
- The MAC address is not needed.
- On a separate device (I used a Mac), connect the controller via the Bluetooth menu
- In a terminal, run system_profiler SPBluetoothDataType to grab the MAC address of the controller
- Unpair and forget the controller so we can connect it to the desktop
To pair on the ROS master machine (in this case, our desktop with Ubuntu 20.04)
- Since the Xbox One S is a newer controller, run sudo apt remove xboxdrv which removes the legacy driver
- On the desktop, after running bluetoothctl, use:
  - scan on – ensure the same MAC address pops up
  - pair <MAC address> – might not work, which is fine
  - connect <MAC address – should work
  - trust <MAC address> – should work
- To verify the controller input config, sudo apt-get install jstest-gtk and run the program
  - Run sudo apt-get install evtest && sudo evtest, then select the controller from the list to test inputs
  - Pay attention to the event IDs when pressing the buttons, these are the mappings
Piloting the Turtlebot2
- Similar process to launching the keyboard_teleop above
- After launch minimal.launch, in another terminal launch roslaunch turtlebot_teleop xbox360_teleop
- Hold the "Y" button and move the leftmost joystick to move the Turtlebot.
- Woohoo!

Using the Kinect camera

Open the terminal
- sudo apt update && sudo apt upgrade -y (Recommended)
Install the dependencies in your workspace
- cd kobuki_ws/src/
- sudo apt install git-core cmake freeglut3-dev pkg-config build-essential libxmu-dev libxi-dev libusb-1.0-0-dev -y
- git clone https://github.com/OpenKinect/libfreenect.git
Make and install
- cd libfreenect
- mkdir build
- cd build
- cmake -L ..
- make
- sudo make install
- sudo ldconfig /usr/local/lib64/
To use Kinect without sudoing every time
- sudo adduser $USER video
- sudo adduser $USER plugdev
Add some device rules
- sudo nano /etc/udev/rules.d/51-kinect.rules
- Paste the following into above command and save:

# ATTR{product}=="Xbox NUI Motor"
SUBSYSTEM=="usb", ATTR{idVendor}=="045e", ATTR{idProduct}=="02b0", MODE="0666"
# ATTR{product}=="Xbox NUI Audio"
SUBSYSTEM=="usb", ATTR{idVendor}=="045e", ATTR{idProduct}=="02ad", MODE="0666"
# ATTR{product}=="Xbox NUI Camera"
SUBSYSTEM=="usb", ATTR{idVendor}=="045e", ATTR{idProduct}=="02ae", MODE="0666"
# ATTR{product}=="Xbox NUI Motor"
SUBSYSTEM=="usb", ATTR{idVendor}=="045e", ATTR{idProduct}=="02c2", MODE="0666"
# ATTR{product}=="Xbox NUI Motor"
SUBSYSTEM=="usb", ATTR{idVendor}=="045e", ATTR{idProduct}=="02be", MODE="0666"
# ATTR{product}=="Xbox NUI Motor"
SUBSYSTEM=="usb", ATTR{idVendor}=="045e", ATTR{idProduct}=="02bf", MODE="0666"

Need to generate audio drivers for support in freenect folder
- cd ..
- python3 src/fwfetcher.py
Copy to a specific location (without this command still work)
- sudo cp src/audios.bin /usr/local/share/libfreenect
Open the Kinect camera (Run command in libfreenect folder)
- freenect-micview (Checking the audio)
- Ctrl + c
- freenect-glview (Open the camera)
- freenect-camtest (To test camera)

Toggling the Camera with RViz

cd kobuki_ws/src
git clone https://github.com/ros-drivers/freenect_stack.git
Get back to workspace
- cd kobuki_ws
- cd .. (Recommended)
- catkin_make
- source devel/setup.bash
- roslaunch freenect_launch freenect.launch depth_registration:=true
- rviz
Global Options
Set fixed frame to camera_link

Add pointcloud2
Set the topic -> /camera/depth_registered/points

Mapping (Toggle camera with RTAB-MAP and RViz)

Open the terminal
Connect to the TurtleBot
- roslaunch turtlebot_bringup minimal.launch
Connect to the camera
- roslaunch freenect_launch freenect.launch depth_registration:=true
Install RTAB-MAP package (if already install skip)
- sudo apt install ros-noetic-rtabmap-ros -y
Open the RTAB-MAP
- roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start" depth_topic:=/camera/depth_registered/image_raw rgb_topic:=/camera/rgb/image_raw camera_info_topic:=/camera/rgb/camera_info
If facing any error on running the RTAB-MAP try this command
- export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/opt/ros/noetic/lib
- echo 'export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/opt/ros/noetic/lib' >> ~/.bashrc
- source ~/.bashrc
Open the Rviz
- rosrun rviz rviz
Add option on Rviz
- Global options -> Set fixed frame -> map
- Add RobotModel
- Add TF
- Add LaserScan
- Map -> Topic -> /rtabmap/cloud_map
- Odometry -> Topic -> /rtabmap/odom
- Path -> Topic -> /rtabmap/mapPath
- Add PointCloud2 -> Set topic -> /rtabmap/cloud_map
Saving the map
- Need to ensure correct topic: If map_saver doesn’t automatically save from the correct topic, need to specific the topic manually
  - Global Options: /map
  - Map: /rtabmap/grid_prob_map
- Save map command
  - rosrun map_server map_saver map:=/rtabmap/grid_prob_map -f /home/SaPHaRI/kobuki_ws/src/1stmap
  - map_saver map:=/rtabmap/grid_prob_map is specific the topic manually
  - /home/SaPHaRI/kobuki_ws/src/1stmap is the path of the map
  - 1stmap is name of the map

Communication: 2 Terminals

First terminal
- roscore
Second terminal
- rostopic pub /test std_msgs/String "data: 'Hello from master'"
Third terminal
- rostopic echo /test

Communication: 2 Raspberry Pis

First Raspberry Pi
- First Terminal
  - roscore
- Second Terminal
  - export ROS_MASTER_URI=http://<Hostname or IP Address>:11311
  - export ROS_IP=<IP of Machine>
  - rosrun beginner_tutorials talker.py
Second Raspberry Pi
- First Terminal
  - export ROS_MASTER_URI=http://<Hostname or IP Address>:11311
  - export ROS_IP=<IP of Machine>
  - rosrun beginner_tutorials listener.py

Communication: 2+ Raspberry Pis

Repeat the same procedure as the above
Add more devices
- export ROS_MASTER_URI=http://<Hostname or IP Address>:11311
- export ROS_IP=<IP of Machine>
- rosrun beginner_tutorials listener.py

Remote Control: 1 TurtleBot

Assume Rasp 1 is the master (talker) and Rasp 2 is a subscriber (listener). We'll control TurtleBot (Rasp 2) through Rasp 1
Rasp 1 (IP Address: 192.168.0.91)
- export ROS_MASTER_URI=http://192.168.0.91:11311
- export ROS_IP=192.168.0.91
- roscore
Rasp 2 (IP Address: 192.168.0.190)
- export ROS_MASTER_URI=http://192.168.0.91:11311
- export ROS_IP=192.168.0.190
- roslaunch turtlebot_bringup minimal.launch
Rasp 1
- In another terminal: roslaunch turtlebot_teleop keyboard_teleop.launch

Remote Control: 2+ TurtleBots (simultaneous)

Assumed Rasp1 is the master (talker) and Rasp 2, 3 are subscribers (listeners). Control TurtleBot (Rasp 2, 3) by using Rasp 1
Rasp 1 (IP Address: 192.168.0.91)
- export ROS_MASTER_URI=http://192.168.0.91:11311
- export ROS_IP=192.168.0.91
- roscore
- roslaunch turtlebot_teleop keyboard_teleop.launch
Rasp 2 (IP Address: 192.168.0.190)
- export ROS_MASTER_URI=http://192.168.0.91:11311
- export ROS_IP=192.168.0.190
- roslaunch turtlebot_bringup minimal.launch __ns:=<turtlebotname> (need this command because to control 2 TurtleBots at the same time, you need different node names)
- In another terminal
  - rosrun topic_tools relay <original topic name> <new topic name because of namespace change>
  - /cmd_vel_mux/input/teleop
  - /turtlename/cmd_vel_mux/input/teleop
Rasp 3 (IP Address: 192.168.0.8)
- export ROS_MASTER_URI=http://192.168.0.91:11311
- export ROS_IP=192.168.0.8
- roslaunch turtlebot_bringup minimal.launch __ns:=<turtlebotname> (need this command because to control 2 TurtleBots at the same time, you need different node names)
- In another terminal
  - rostopic list
  - rosrun topic_tools relay <original topic name> <new topic name because of namespace change>
  - /cmd_vel_mux/input/teleop
  - /turtlename/cmd_vel_mux/input/teleop
Tips
- If you don't want to indicate the name of TurtleBot every single time
  - nano ~/.bashrc
  - export ROS_NAMESPACE=turtlebotX
  - turtlebotX can be change

When you're given a computer with Ubuntu but you don't know the login to the only existing user so you need to add a new one instead to move forward

Add a User via Recovery Mode

Reboot the System
- Reboot the system, and as it boots up, hold the Shift key to access the GRUB boot menu
Select Recovery Mode
- In the GRUB menu, select the Advanced options for Ubuntu. Then select the Recovery mode for your current kernel (the one ending in (recovery mode))
Drop to Root Shell
- Once in the recovery mode, select Root - Drop to root shell prompt.
Remount the Filesystem
- mount -o remount,rw /
Create a New User
- adduser newusername
- newusername = enter the desire name
- Then follow the pormpts to set the password and other details for the new user
- In other details
  - Full name, Room number, Phone number, etc. you can skip by press enter key
Grant Sudo Privileges
- usermod -aG sudo newusername
- newusername = enter the name that you put in the create a new user part
Reboot the System
- reboot
- Boots up in log in with the new user Username: SaPHaRI Password: 7TurtleBots!

Path Planning via SSH

If you care for do the path planning on Raspberry Pi itself
- Follow below steps just without ssh and run on the Raspberry Pi
Assumed you have map
- If no, go to Section: Save the Map above
TurteBot
- Turn on
Raspberry Pi
- Turn on
- Connection via USB
  - TurtleBot
  - Kinect Camera
Computer
- Turn on
- Open Terminal
- Terminal 1 (Connect to TurtleBot)
  - ssh SaPHaRI@192.168.0.53
  - IP Address depends on what Raspberry Pi you use, in this case I use Raspberry Pi 5
  - roslaunch turtlebot_bringup minimal.launch
- Terminal 2 (Freenect)
  - ssh SaPHaRI@192.168.0.53
  - roslaunch freenect_launch freenect.launch depth_registration:=true
- Terminal 3 (RTABMAP)
  - ssh SaPHaRI@192.168.0.53
  - roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start" depth_topic:=/camera/depth_registered/image_raw rgb_topic:=/camera/rgb/image_raw camera_info_topic:=/camera/rgb/camera_info
- Terminal 4 (AMCL file to initialize pose of TurtleBot)
  - ssh SaPHaRI@192.168.0.53
  - roslaunch turtlebot_navigation amcl_demo.launch map_file:=/home/SaPHaRI/kobuki_ws/src/4thmap.yaml
  - Don't forget to choose the map, in this case I chose 4thmap
- Terminal 5 (Rviz to do path planning)
  - rviz
  - Add option on Rviz
    - RobotModel
    - LaserScan -> Topic -> /scan
    - Map -> Topic -> /map
- In Rviz
  - Click 2D Pose Estimate
    - To set initialize position on the robot
    - Set arrows go in the same direction with TurtleBot
  - Click 2D Nav Goal
    - Choose your Goal on the map

Configuration file for AMCL

Go to AMCL file
- cd kobuki_ws/src/turtlebot_apps/turtlebot_navigation/launch/
- nano amcl_demo.launch
- Use this instead

<launch>
  <!-- Convert PointCloud to LaserScan -->
  <node pkg="pointcloud_to_laserscan" type="pointcloud_to_laserscan_node" name="pointcloud_to_laserscan">
    <!-- Remap input from the Kinect's point cloud -->
    <remap from="cloud_in" to="/rtabmap/cloud_map"/>
    <param name="scan_time" value="0.033"/>  
    <param name="range_min" value="0.5"/>    
    <param name="range_max" value="5.0"/>    
    <param name="use_inf" value="true"/>     
    <param name="angle_min" value="-1.57"/>  
    <param name="angle_max" value="1.57"/>   
    <param name="target_frame" value="base_link"/>  
  </node>

  <!-- Map server -->
  <arg name="map_file" default="$(env TURTLEBOT_MAP_FILE)"/>
  <node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)" />

  <!-- AMCL -->
  <arg name="custom_amcl_launch_file" default="$(find turtlebot_navigation)/launch/includes/amcl/kinect_amcl.launch.xml"/>
  <arg name="initial_pose_x" default="0.0"/> 
  <arg name="initial_pose_y" default="0.0"/> 
  <arg name="initial_pose_a" default="0.0"/>
  <include file="$(arg custom_amcl_launch_file)">
    <arg name="initial_pose_x" value="$(arg initial_pose_x)"/>
    <arg name="initial_pose_y" value="$(arg initial_pose_y)"/>
    <arg name="initial_pose_a" value="$(arg initial_pose_a)"/>

    <!-- Add scan topic remapping here -->
    <arg name="scan_topic" default="/scan"/>
  </include>

  <!-- Move base -->
  <arg name="custom_param_file" default="$(find turtlebot_navigation)/param/kinect_costmap_params.yaml"/>
  <include file="$(find turtlebot_navigation)/launch/includes/move_base.launch.xml">
    <arg name="custom_param_file" value="$(arg custom_param_file)"/>
  </include>

</launch>

This AMCL file included move_base
- No need to launch move_base.launch anymore
Before launch this file you need to install pointcloud_to_laserscan
- sudo apt-get install ros-noetic-pointcloud-to-laserscan -y
Then make sure the frame transformation (TF)
- sudo nano /opt/ros/noetic/lib/tf/view_frames
- Add .decode('utf.8') after m = r.search(vstr)
- Should be like this m = r.search(vstr.decode('utf.8'))
Explanation
- Convert PointCloud to LaserScan
  - Due to Kinect, it doesn't produce a LaserScan directly; Instead, it produces a PointCloud2 like /camera/depth/points. You can convert the PointCloud2 to a LaserScan
  - But in this case I can /rtabmap/cloud_map because I use RTAB-MAP to help me map environment
- Map server
  - To open the map file in the Rviz
- AMCL
  - To initialize the pose of the robot
- Move base
  - To enable the TurtleBot to move autonomously
Tips: Make sure you set the topic in the Rviz same as in the AMCL file

Receive the signal from Doorbell (Raspberry Pi)

Note: This is outdated. For the system we integrate with a mechanical doorbell opening system, see /Kaleb/Week 13.
Connection ![[RF Receiver MX-RM-5V Close up.png]]
RF Receiver pins (Start from left) | Picture on the above
- 1st: GND - Connect to a ground in Raspberry Pi pin 6th
- 2nd: DATA (Signal) - Connect to a GPIO in Raspberry Pi pin 11th/13th
- 3rd: ANT (Antenna) - Skip
- 4th: 5V power - Connect to a 5V in Raspberry Pi pin 4th
Open terminal
- sudo apt-get install python3-pip
- sudp pip3 install rpi-rf
- nano rpi-rf_receive.py

#!/usr/bin/env python3

import argparse
import signal
import sys
import time
import logging

from rpi_rf import RFDevice

rfdevice = None

# pylint: disable=unused-argument
def exithandler(signal, frame):
    rfdevice.cleanup()
    sys.exit(0)

logging.basicConfig(level=logging.INFO, datefmt='%Y-%m-%d %H:%M:%S',
                    format='%(asctime)-15s - [%(levelname)s] %(module)s: %(message)s', )
  
parser = argparse.ArgumentParser(description='Receives a decimal code via a 433/315MHz GPIO device')
parser.add_argument('-g', dest='gpio', type=int, default=27,
                    help="GPIO pin (Default: 27)")
args = parser.parse_args()
 
signal.signal(signal.SIGINT, exithandler)
rfdevice = RFDevice(args.gpio)
rfdevice.enable_rx()
timestamp = None
logging.info("Listening for codes on GPIO " + str(args.gpio))
while True:
    if rfdevice.rx_code_timestamp != timestamp:
        timestamp = rfdevice.rx_code_timestamp
        logging.info(str(rfdevice.rx_code) +
                     " [pulselength " + str(rfdevice.rx_pulselength) +
                     ", protocol " + str(rfdevice.rx_proto) + "]")
    time.sleep(0.01)
rfdevice.cleanup()

After finished the setup try the code
- sudo python3 rpi-rf_receive.py
Press the doorbell button
- receive the signal ![[Received RF signal.png]]

Enable the TurtleBot to move autonomously by Doorbell

Create necessary files
- cd kobuki_ws/src
Send goal file
- nano send_goal.py

#!/usr/bin/env python3

import rospy
from geometry_msgs.msg import PoseStamped

def send_goal():
    rospy.init_node('send_goal')

    pub = rospy.Publisher('/move_base_simple/goal', PoseStamped, queue_size=10)
    rospy.sleep(1)  # Allow time for the node to initialize

    goal = PoseStamped()

    # Set header information
    goal.header.frame_id = "map"
    goal.header.stamp = rospy.Time.now()

    # Set goal position (example values)
    goal.pose.position.x = 0.655
    goal.pose.position.y = -0.862
    goal.pose.position.z = 0.000

    # Set goal orientation (example quaternion)
    goal.pose.orientation.x = 0.0
    goal.pose.orientation.y = 0.0
    goal.pose.orientation.z = -0.0753
    goal.pose.orientation.w = 0.658
    
    pub.publish(goal)
    rospy.loginfo("Goal sent to TurtleBot!")

if __name__ == '__main__':
    try:
        send_goal()
    except rospy.ROSInterruptException:
        pass

Need to find the exact coordinate to config in the file (send_goal.py)
- Find by do path planning, using 2D pose and 2D navigate
- It will show in the 5th terminal that you lunched rviz
  - This coordinate is just to test the system
  - Setting Pose
    - Frame: map
    - -0.087 -0.152 0.181
  - Setting Goal
    - Frame: map
    - Position: 0.655 -0.862 0.000
    - Orientation: 0.000 0.000 -0.753 0.658
    - Angle: -1.704
Combined send goal file and receive the signal file
- nano rpi-rd_receive+launch.py (Just a file name, you can use other)

#!/usr/bin/env python3

import argparse
import signal
import sys
import time
import logging
import os  

from rpi_rf import RFDevice

rfdevice = None

# Handle exit signal
def exithandler(signal, frame):
    rfdevice.cleanup()
    sys.exit(0)

logging.basicConfig(level=logging.INFO, datefmt='%Y-%m-%d %H:%M:%S',
                    format='%(asctime)-15s - [%(levelname)s] %(module)s: %(message)s', )

# Argument parser for GPIO pin
parser = argparse.ArgumentParser(description='Receives a decimal code via a 433/315MHz GPIO device')
parser.add_argument('-g', dest='gpio', type=int, default=27,
                    help="GPIO pin (Default: 27)")
args = parser.parse_args()

# Setup exit handler
signal.signal(signal.SIGINT, exithandler)
rfdevice = RFDevice(args.gpio)
rfdevice.enable_rx()

timestamp = None
logging.info("Listening for codes on GPIO " + str(args.gpio))

# Main loop to listen for RF codes
while True:
    if rfdevice.rx_code_timestamp != timestamp:
        timestamp = rfdevice.rx_code_timestamp
        logging.info(str(rfdevice.rx_code) +
                     " [pulselength " + str(rfdevice.rx_pulselength) +
                     ", protocol " + str(rfdevice.rx_proto) + "]")
    time.sleep(0.01)

    # Trigger TurtleBot to move when an RF code is received
    if rfdevice.rx_code:
        os.system("bash -c 'source /opt/ros/noetic/setup.bash && source /home/SaPHaRI/kobuki_ws/devel/setup.bash && python3 /home/SaPHaRI/kobuki_ws/src/send_goal.py'")

rfdevice.cleanup()

Test the system
- Terminal 1:roslaunch turtlebot_bringup minimal.launch
- Terminal 2: roslaunch freenect_launch freenect.launch depth_registration:=true
- Terminal 3: roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start" depth_topic:=/camera/depth_registered/image_raw rgb_topic:=/camera/rgb/image_raw camera_info_topic:=/camera/rgb/camera_info
- Terminal 4: roslaunch turtlebot_navigation amcl_demo.launch map_file:=/home/SaPHaRI/kobuki_ws/src/map/4thmap.yaml
- Terminal 5:
  - sudo -python3 /home/SaPHaRI/kobuki_ws/src/rpi-rf_receive+launch.py
  - or
  - cd kobuki_ws/src
  - sudo python3 rpi-rf_receive+launch.py

RPLIDAR Sensor (Integrate with mapping path)

Install the package
- cd kobuki_ws/src
- git clone https://github.com/Slamtec/rplidar_ros.git
- cd ..
- catkin_make
Config the rplidar_a1.launch
- cd kobuki_ws/src/rplidar_ros/launch
- nano rplidar_a1.launch

<launch>
  <!-- RPLIDAR Node -->
  <node name="rplidarNode" pkg="rplidar_ros" type="rplidarNode" output="screen">
    <param name="serial_port" type="string" value="/dev/ttyUSB0"/>
    <param name="serial_baudrate" type="int" value="115200"/>
    <param name="frame_id" type="string" value="base_laser"/>
    <param name="inverted" type="bool" value="true"/>
    <param name="angle_compensate" type="bool" value="true"/>
  </node>

  <!-- Static Transform Publisher -->
  <node name="static_transform_publisher" pkg="tf2_ros" type="static_transform_publisher" output="screen" args="0 0 0.6 0 1 0 0 base_link base_laser"/>

</launch>

roslaunch turtlebot_bringup minimal.launch
roslaunch rplidar_ros rplidar_a1.launch
PS. If lidar sensor error with exit code 255, please check the USB port
- ls /dev/ttyUSB*

Configuration GMapping before do mapping

cd kobuki_ws/src/turtlebot_apps/turtlebot_navigation/launch
nano gmapping_demo.launch

<launch>
  <!-- RPLIDAR node should be launched separately, as you are already doing -->

  <!-- Gmapping -->
  <include file="$(find turtlebot_navigation)/launch/includes/gmapping/gmapping.launch.xml">
    <arg name="scan_topic" value="/scan" /> <!-- Use RPLIDAR scan topic -->
  </include>

  <!-- Move base -->
  <include file="$(find turtlebot_navigation)/launch/includes/move_base.launch.xml"/>

Mapping the area with LiDAR

Terminal 1 | ssh
- roslaunch turtlebot_bringup minimal.launch
Terminal 2 | ssh
- roslaunch rplidar_ros rplidar_a1.launch
Terminal 3 | ssh
- roslaunch turtlebot_navigation gmapping_demo.launch
Terminal 4
- rviz
After launch all necessary package -> map
Then save the map

Example Python script for navigation by using coordinate with speed adjustable

#!/usr/bin/env python3
  
import rospy
from geometry_msgs.msg import Twist, PoseStamped
from move_base_msgs.msg import MoveBaseAction, MoveBaseGoal
import actionlib

def send_goal(goal_pose):
    # Create an action client
    client = actionlib.SimpleActionClient('move_base', MoveBaseAction)
    rospy.loginfo("Waiting for move_base action server...")
    client.wait_for_server()

    # Create a MoveBaseGoal message
    goal = MoveBaseGoal()
    goal.target_pose.header.frame_id = "map"
    goal.target_pose.header.stamp = rospy.Time.now()

    # Set the goal position and orientation
    goal.target_pose.pose = goal_pose

    # Send the goal and wait for result
    rospy.loginfo("Sending goal...")
    client.send_goal(goal)

    # Wait for the result
    client.wait_for_result()
  
    # Check the result
    if client.get_state() == actionlib.GoalStatus.SUCCEEDED:
        rospy.loginfo("Goal reached successfully!")
    else:
        rospy.logwarn("Goal failed or was preempted!")

def increase_speed():
    # Adjust the speed dynamically using cmd_vel
    pub = rospy.Publisher('/cmd_vel', Twist, queue_size=10)
    rospy.sleep(1)  # Allow time for the publisher to connect
    move_cmd = Twist()
    # Set a higher linear velocity
    move_cmd.linear.x = 1.5  # Forward speed (increase this value for faster movement)
    move_cmd.angular.z = 0.0  # No rotation (straight line)
    rospy.loginfo("Increasing speed and moving robot...")
    pub.publish(move_cmd)

def main():
    rospy.init_node('send_goal')
    
    # Define goal 1 position and orientation
    goal1 = PoseStamped()
    goal1.pose.position.x = 0.655
    goal1.pose.position.y = -0.862
    goal1.pose.position.z = 0.000
    goal1.pose.orientation.x = 0.0
    goal1.pose.orientation.y = 0.0
    goal1.pose.orientation.z = -0.0753
    goal1.pose.orientation.w = 0.658

    # Increase speed before sending goal
    increase_speed()

    # Send goal 1
    send_goal(goal1.pose)

    # Define goal 2 position and orientation
    goal2 = PoseStamped()
    goal2.pose.position.x = -18.155
    goal2.pose.position.y = -8.619
    goal2.pose.position.z = 0.000
    goal2.pose.orientation.x = 0.0
    goal2.pose.orientation.y = 0.0
    goal2.pose.orientation.z = 0.754
    goal2.pose.orientation.w = 0.657

    # Send goal 2 after goal 1 is reached
    send_goal(goal2.pose)

    # Define goal 3 position and orientation
    goal3 = PoseStamped()
    goal3.pose.position.x = -19.046
    goal3.pose.position.y = 4.325
    goal3.pose.position.z = 0.000
    goal3.pose.orientation.x = 0.0
    goal3.pose.orientation.y = 0.0
    goal3.pose.orientation.z = -1.0
    goal3.pose.orientation.w = 0.017

    # Send goal 3 after goal 2 is reached
    send_goal(goal3.pose)

    # Define goal 4 position and orientation
    goal4 = PoseStamped()
    goal4.pose.position.x = -10.463
    goal4.pose.position.y = -8.523
    goal4.pose.position.z = 0.000
    goal4.pose.orientation.x = 0.0
    goal4.pose.orientation.y = 0.0
    goal4.pose.orientation.z = -0.752
    goal4.pose.orientation.w = 0.659

    # Send goal 3 after goal 2 is reached
    send_goal(goal4.pose)

if __name__ == '__main__':
    try:
        main()
    except rospy.ROSInterruptException:
        pass

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SaPHaRI-Lab/TurtleBot2

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TurtleBot2

Background

Goal

Components:

LiDAR Sensor

Raspberry Pi

Getting Started

Install Ubuntu Desktop on Raspberry Pi 4 8GB:

SSH:

Install ROS Noetic:

Setting up the workspace

Piloting the TurtleBot: Keyboard

Piloting the TurtleBot: Controller

Using the Kinect camera

Toggling the Camera with RViz

Mapping (Toggle camera with RTAB-MAP and RViz)

Communication: 2 Terminals

Communication: 2 Raspberry Pis

Communication: 2+ Raspberry Pis

Remote Control: 1 TurtleBot

Remote Control: 2+ TurtleBots (simultaneous)

When you're given a computer with Ubuntu but you don't know the login to the only existing user so you need to add a new one instead to move forward

Path Planning via SSH

Configuration file for AMCL

Receive the signal from Doorbell (Raspberry Pi)

Enable the TurtleBot to move autonomously by Doorbell

RPLIDAR Sensor (Integrate with mapping path)

Configuration GMapping before do mapping

Mapping the area with LiDAR

Example Python script for navigation by using coordinate with speed adjustable

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