Setup robot

Install ROS

Prepare your robot according to the instructions in the Clearpath tutorial here. You should have Ubuntu 20.04 and ROS2 Foxy installed before following the tutorial.

Network

Basic network structure

Make sure that the onboard router has access to the internet during the setup.

Depending on your router and onboard PC you may need to follow instructions included in NETWORK section.

To follow with this instruction you don’t have to follow official guidelines for setting network presented in Clearpath documentation.

Sensors

All sensors connected to the robot should be correctly identified at the startup to avoid serial port conflicts. If you want to connect new sensor over USB port, follow the instructions in the SENSORS.

Setup software

Husky packages

Packages can be built both on the onboard PC and user PC, however certain operations apply only to onboard PC.

Build workspace

mkdir -p ~/put_husky_ws/src
cd ~/put_husky_ws/src
git clone https://github.com/PPI-PUT/put-husky.git
cd ..
rosdep install --from-paths src --ignore-src --rosdistro=$ROS_DISTRO -y
colcon build --symlink-install
source install/setup.bash
echo "source /opt/ros/foxy/setup.bash" >> ~/.bashrc
echo "source ~/put_husky_ws/install/setup.bash" >> ~/.bashrc
source ~/.bashrc

Setup udev rules

source ~/.bashrc
sudo cp $(rospack find husky_bringup)/udev/* /etc/udev/rules.d/
sudo cp $(rospack find husky_bringup)/debian/* /etc/udev/rules.d/

sudo udevadm control --reload-rules && sudo service udev restart && sudo udevadm trigger

IMU integration

We use Xsens MTi-300 IMU for measurements.

Build workspace

mkdir -p ~/xsens_ws/src
cd ~/xsens_ws/src
git clone -b foxy-husky https://github.com/PPI-PUT/bluespace_ai_xsens_ros_mti_driver.git
cd ..
rosdep install --from-paths src --ignore-src --rosdistro=$ROS_DISTRO -y
colcon build --symlink-install
source install/setup.bash
echo "source ~/xsens_ws/install/setup.bash" >> ~/.bashrc
source ~/.bashrc

Setup udev rules

source ~/.bashrc
sudo cp $(rospack find bluespace_ai_xsens_ros_mti_driver)/udev/* /etc/udev/rules.d/
sudo udevadm control --reload-rules && sudo service udev restart && sudo udevadm trigger

Startup install

Run below script only on robot to enable ROS packages at the robot startup.

Install Husky

source ~/.bashrc
ros2 run husky_bringup install

Install IMU

ros2 run bluespace_ai_xsens_ros_mti_driver install

To verify installation you can run

journalctl -a -b | grep ros

to make sure no errors occured during startup. You can compare you out put with ours at example_output.md.

Visualization

TODO