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1. Hosts

  • wifi network: Chaos

  • robot master: 192.168.28.11 , login: sw/abc123!@# , wifi: Cloud

  • robot nodes:

    • tb3_0: 192.168.28.81 , ssh: waffle/123456 , wifi: Chaos
      • wifi enabler: 192.168.28.82 ssh: p1/123456 (wifi: Chaos)
      • bt_enabler_0: 192.168.28.83 ssh:pi/123456 (wifi: Chaos)
        • to set the static ip address for pi, please refer for pi
    • tb3_1: 192.168.28.149 ssh: robot/robot , wifi: Chaos
    • ros2p_0: 192.168.28.77 ssh: husarion/husarion, wifi: Chaos

  • Backends

    • zk server: 192.168.12.225, 192.168.12.220, 192.168.12.222 ssh ubuntu@xxx.xxx.xxx.xxx

      # To Launch
cd /usr/zookeeper/zookeeper-3.4.14/bin
sh zkServer.sh start

    • Kafka: 192.168.12.146, 192.168.12.2, 192.168.12.149

      ssh ubuntu@xxx.xxx.xxx.xxx

      # To Launch
sudo -i
cd /usr/kafka/kafka_2.13-2.4.1/
bin/kafka-server-start.sh config/server.properties &

      # to check the topic
cd /usr/kafka/kafka_2.13-2.4.1/
bin/kafka-console-consumer.sh --topic audio-test --from-beginning --bootstrap-server 192.168.12.146:9092

    • redis server: 192.168.12.146

      # To Launch
cd ~/redis-6.0.8/
src/redis-server redis.conf

    • Task Scheduler: 192.168.12.146

      # To Launch
sudo -i
cd /home/ubuntu/robot
bash start.sh

  • Sniffers

    • visual on robot tb3_0

      ssh ubuntu@192.168.28.28 -> qwe123!@#

cd visual

#To change robotid
cd ~/visual/video_broker
vim main.py
change robot_id = 'tb3_0'

#restart the camera and orchesrator service:
sudo systemctl start depthcam
sudo systemctl start orch

#Check depth-cam work:
http://192.168.28.28:9038/captureId

#start yolo server for visual recognition
ssh kunqian@192.168.12.121 #passwd: abc123!@#
cd ~/yolo-server
###if need to build the excutable server
mkdir build3
cd build3
cmake .. -DWITH_CUDA=OFF
make
###if need to build the excutable server
cd ~/yolo-server
nohup build3/yoloserver &

    • audio on robot x

      ssh pi@192.168.28.29` -> qwe123!@#

docker ps
#
#**dcase2018t2vggish:1.4**: this docker image(sound recognition) is #provides by stephane.louisditpicard@orange.com
#- **audio_broker:v0**: this docker image is used for receiving the #recognition result and sending the result to Kafka
#**these modules have been set up as system daemon service (auto start when reboot)**.

#to change the robot id
cd ~/audio_broker
vim run_broker.sh
modify ROBOT_ID in "docker run --net host -e ROBOT_ID='fixed-testbedbj-audio01' audio_broker:v0"

#To check the result
check topic "audio-test" in 192.168.12.146

#To enter into the container
systemctl start docker
docker exec -it container_id bash

2. Install

2.1. Robot Master Node

  • Install ROS1

    if need to change apt source and rosdep source, please refer to

    sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.ustc.edu.cn/ros/ubuntu/ $DISTRIB_CODENAME main" > /etc/apt/sources.list.d/ros-latest.list'
    • install ROS1 from sources:
$ sudo apt-get update
$ sudo apt-get upgrade
$ wget https://raw.githubusercontent.com/ROBOTIS-GIT/robotis_tools/master/install_ros_kinetic.sh && chmod 755 ./install_ros_kinetic.sh && bash ./install_ros_kinetic.sh
$ rosedep update
##Install Dependent ROS 1 Packages
$ sudo apt-get install ros-kinetic-joy ros-kinetic-teleop-twist-joy ros-kinetic-teleop-twist-keyboard ros-kinetic-laser-proc ros-kinetic-rgbd-launch ros-kinetic-depthimage-to-laserscan ros-kinetic-rosserial-arduino ros-kinetic-rosserial-python ros-kinetic-rosserial-server ros-kinetic-rosserial-client ros-kinetic-rosserial-msgs ros-kinetic-amcl ros-kinetic-map-server ros-kinetic-move-base ros-kinetic-urdf ros-kinetic-xacro ros-kinetic-compressed-image-transport ros-kinetic-rqt-image-view ros-kinetic-gmapping ros-kinetic-navigation ros-kinetic-interactive-markers

$ cd ~/catkin_ws/src/
$ git clone https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git
$ git clone -b kinetic-devel https://github.com/ROBOTIS-GIT/turtlebot3.git
$ cd ~/catkin_ws && catkin_make

$ sudo apt-get install ros-kinetic-hector-mapping

$ nano .bashrc

source /opt/ros/kinetic/setup.bash
source ~/catkin_ws/devel/setup.bash
export ROS_MASTER_URI=http://192.168.27.1:11311
export ROS_HOSTNAME=192.168.27.1
export TURTLEBOT3_MODEL=waffle_pi

2.2 Install Rosbot 2.0 support

update environment and install neccesary packages

mkdir -p ~/ros_workspace/src
cd ~/ros_workspace/src
catkin_init_workspace
cd ..
catkin_make

cd src
git clone https://github.com/husarion/rosbot_description.git
git clone https://github.com/husarion/tutorial_pkg.git

sudo apt update
sudo apt install python-rosdep2
sudo rosdep init
rosdep update
#Install dependencies
rosdep install --from-paths src --ignore-src -r -y

#compile
cd ~/ros_workspace
catkin_make

#install enviroment
nano ~/.bashrc
# add: export ~/ros_workspace/devel/setup.sh
source ~/.bashrc


### install slam and navigation launch

sudo apt-get install ros-kinetic-robot-localization

#copy rosbot config yamls to multirobot_nv package
cd ~/catkin_ws/src/multirobot_nv/param
git clone https://github.com/husarion/tutorial_pkg.git
cd turorial_pkg
mv config/ ../rosbot_param
cd ..
rm -rf turorial_pkg

Implementation reference for Rosbot 2.0

  1. map navigation
  2. config files for movebase

2.3 Install robotmaster service

  • requirements

    $ cd ~ & mkdir projects
$ cd projects
$ git clone https://github.com/wdxpz/robotmaster.git
$ pip install -i https://pypi.tuna.tsinghua.edu.cn/simple "django<2"
$ pip install -i https://pypi.tuna.tsinghua.edu.cn/simple "djangorestframework<3.10"
$ pip install -i https://pypi.tuna.tsinghua.edu.cn/simple apscheduler
$ pip install requests

$ sudo apt-get install libmagickwand-dev
$ pip install Wand

pip install influxdb

2.3 Install ROS launch_robot package

$ git clone https://github.com/wdxpz/turtlebot_master_scripts.git
$ catkin_create_pkg multirobot_nv

# copy files from git into ~/catkin_ws/src/multirobot_nv

2. PreSettings

2.1 SLAM

To get more accurate map, cartographer methods is recommended:

To install cartographer, see see ROS 1 SLAM for how to install cartographer for Kinetic

to use cartographer for SLAM:

$ export TURTLEBOT3_MODEL=${TB3_MODEL}
#on turtlebot node
$ roslaunch turtlebot3_bringup turtlebot3_robot.launch
#on turtlebot master
$ roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch
$ roslaunch turtlebot3_slam turtlebot3_slam.launch slam_methods:=cartographer
$ rosrun map_server map_saver -f /save_dir/map

2.2 Navigation

the default navigation params need to modified to tune the navigation in specific environment.

  • In our case, we intend to make the distance between two adjacent robot checkpoints not too far, so we can make the sime_time in turtlebot3_navigation/param/dwa_local_planner_params_$(model).yaml smaller, in Bejing office:
$roscd turtlebot3_navigation
$cd param
$nano dwa_local_planner_params_waffle_pi.yaml

# Forward Simulation Parameters
  sim_time: 1.5
  • To avoid obstacle but use limited space in Beijing office, we also modified turtlebot3_navigation/param/costmap_common_param_$(model).yaml
$roscd turtlebot3_navigation
$cd param
$nano costmap_common_params_waffle_pi.yaml

inflation_radius: 1.0
cost_scaling_factor: 10.0

3. Requirements

master node

  1. pip install -i https://pypi.tuna.tsinghua.edu.cn/simple "django<2"
  2. pip install -i https://pypi.tuna.tsinghua.edu.cn/simple "djangorestframework<3.10"
  3. pip install -i https://pypi.tuna.tsinghua.edu.cn/simple apscheduler
  4. see Requirement for createsite package

turtlebot node

  1. sudo apt-get install ros--robot-upstart, replace “” by your ROS version: kinetic, melodic, …

4. Launch robot at turtlebot node

  1. Deploy project launch_robot in ~/catkin_ws/src
  2. power on to auto launch the robot
  3. see usage in README.md of project turtlebot_node_scripts

5. Launch navigation at turtlebot master

  1. deploy project multirobot_nv in ~/catkin_ws/src

  2. config startall.launch file

  3. see how-to in README.md of project turtlebot_master_scripts

  4. manually launch anvigation

    roslaunch multirobot_nv startall.launch

  5. launch by robotmaster service, see it in next section

6. robotmaster Service

6.1. createsite service

export current map data from map_server node, and save it in local, convert it to jpg and create the site with specific name and the jpg in server.

required: map_server node activated by slam or navigation

GET http://server_ip:port/createsite/?name=test2&desc=beijing office floor 233&forced=n

#name(required) : site name, string
#desc (optional): site description, string
#forced (optional): forced to overwrited existed site, string(['y', 'yes', 'true'] for True )

6.2. launch navigation service

POST http://server_ip:port/launch/

json body:
{
        'inspection_id': 103,
        'site_id': 'office12'
        'robots': {
            'robot_id1': {
                'org_pos': "(1.4, 10.5, 0)",
                'subtask': "[(1, x1, y1), (2, x2, y2), ...]"
            },
            'robot_id2': {
                'org_pos': "(5.5, 12.5, 0)",
                'subtask': "[(3, x3, y3), (4, x4, y4), ...]"
            },
            'robot_id3': {
                ...
            },
            ...
        }
    }

Run Service with Docker

On Mac

Reference Using ROS with Docker in macOS

1. Run roscore in docker container

  • start container with port mapping to 11311,
    • option -net=host will not work in MacOS because docker in macOS itself runs inside a virtual machine. The above setting merely shares the same address with the virtual machine rather than the actual host
$ docker run -it --rm --name roscore -p 11311:11311 ros:kinetic-robot bash
  • in the container, start the roscore
$ ./ros_entrypoint.sh 
$ ip=$(hostname -i)
$ export ROS_IP=$ip
$ roscore

2 Run ros node in another docker container

  • start the container
$ ip=$(docker inspect -f '{{range .NetworkSettings.Networks}}{{.IPAddress}}{{end}}' roscore)
$ docker run -it --rm --name node --env ROS_MASTER_URI=http://$ip:11311 ros:kinetic-robot bash
  • config the env variables
$ ./ros_entrypoint.sh 
$ ip=$(hostname -i)
$ export ROS_IP=$ip
$ echo $ROS_IP
$ echo $ROS_MASTER_URI
  • run ros app
$ rosnode ping /roscore

On Linux

start roscore

$ docker run -it --network host --env ROS_IP=192.168.27.1 --rm --name roscore ros:kinetic-robot roscore

deploy robot master servcie

  • start container

    $sudo docker run -it --network host --env ROS_IP=192.168.27.1 --env ROS_MASTER_URI=http://192.168.27.1:11311 --env TURTLEBOT3_MODEL=waffle_pi --rm --name robotmaster -v /home/sw/projects:/projects ros:kinetic-robot bash

  • install requirements

    #optional: change ROS apt source
$ sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.ustc.edu.cn/ros/ubuntu/ $DISTRIB_CODENAME main" > /etc/apt/sources.list.d/ros-latest.list'

    $ sudo apt-get update
$ sudo apt-get install -y ros-kinetic-joy ros-kinetic-teleop-twist-joy ros-kinetic-teleop-twist-keyboard ros-kinetic-laser-proc ros-kinetic-rgbd-launch ros-kinetic-depthimage-to-laserscan ros-kinetic-rosserial-arduino ros-kinetic-rosserial-python ros-kinetic-rosserial-server ros-kinetic-rosserial-client ros-kinetic-rosserial-msgs ros-kinetic-amcl ros-kinetic-map-server ros-kinetic-move-base ros-kinetic-urdf ros-kinetic-xacro ros-kinetic-compressed-image-transport ros-kinetic-rqt-image-view ros-kinetic-gmapping ros-kinetic-navigation ros-kinetic-interactive-markers

$ cd ~ & mkdir catkin_ws 
$ cd catkin_ws
$ mkdir src 
$ cd src
$ git clone https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git
$ git clone -b kinetic-devel https://github.com/ROBOTIS-GIT/turtlebot3.git
$ cd ~/catkin_ws && catkin_make

$ sudo apt-get install -y python-pip
$ pip install -i https://pypi.tuna.tsinghua.edu.cn/simple "django<2"
$ pip install -i https://pypi.tuna.tsinghua.edu.cn/simple "djangorestframework<3.10"
$ pip install -i https://pypi.tuna.tsinghua.edu.cn/simple apscheduler
$ pip install requests
$ sudo apt-get install libmagickwand-dev
$ pip install Wand
$ pip install influxdb

  • clone project

    $ cd ~
$ mkdir projects
$ cd projects
$ git clone https://github.com/wdxpz/robotmaster.git robotmaster
$ cd ~/catkin_ws/src
$ git clone https://github.com/wdxpz/turtlebot_master_scripts.git multirobot_nv

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a daemon process to read task from message queue and control robots to do the task

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