SiChiTong / agribot_ros

This repository ROS package is suit for scout 2 and scout mini

ROS Packages for Intelligent Agricultural Robot (agribot_ros)

History

The code was from scout_ros of Agilex and husky packages of Clearpath Robotics.

• 11/30/2023: Add joystick Enable and Enable Turbo
• 11/29/2023: Add a new joystick user interface
• 11/20/2023: Merge the noetic-devel branch to master
• 11/16/2023: Start Noetic version
• 10/29/2023: Add RTabMap example. Tested in the Gazebo simulator.
• 10/23/2023: Change the build system. catkin_make --> catkin_make_isolated to support cartographer
• 10/19/2023: Add Gmapping and AMCL test with a simulated 2D LiDAR
• 10/12/2023: Add simulated YDLIDAR for Gazebo.
• 08/09/2023: Add xavier param for start.launch. The default is xavier where the default FPS of Realsense camera is 15.
• 08/09/2023: Add a joystick option. The default XBox.
• 08/07/2023: Change the code block to make easier to copy and paste.
• 08/01/2023: Add CAN port# option
• 07/28/2023: Add YDLIDAR
• 07/28/2023: Add more ROS packages.
• 05/14/2023: Reorganize the project to add sensors.
• 05/14/2023: Fix wheel orientations.
• 05/15/2023: Add a orchard world to test SLAM algorithms in simulation.

Installation

Install dependent libraries

sudo apt install -y build-essential
sudo apt install -y libasio-dev
sudo apt install -y lua5.2
sudo apt install -y liblua5.2-dev
sudo apt install -y libceres-dev
sudo apt install -y ros-$ROS_DISTRO-teleop-twist-keyboard
sudo apt install -y ros-$ROS_DISTRO-ros-control
sudo apt install -y ros-$ROS_DISTRO-ros-controllers
sudo apt install -y ros-$ROS_DISTRO-joint-state-publisher-gui 
sudo apt install -y ros-$ROS_DISTRO-robot-state-publisher 
sudo apt install -y ros-$ROS_DISTRO-roslint
sudo apt install -y ros-$ROS_DISTRO-teleop-twist-joy
sudo apt install -y ros-$ROS_DISTRO-move-base
sudo apt install -y ros-$ROS_DISTRO-rqt 
sudo apt install -y ros-$ROS_DISTRO-rqt-common-plugins
sudo apt install -y ros-$ROS_DISTRO-rqt-robot-plugins 
sudo apt install -y ros-$ROS_DISTRO-rqt-robot-steering
sudo apt install -y ros-$ROS_DISTRO-dwa-local-planner
sudo apt install -y ros-$ROS_DISTRO-lms1xx
sudo apt install -y ros-$ROS_DISTRO-velodyne-description
sudo apt install -y ros-$ROS_DISTRO-realsense2-camera
sudo apt install -y ros-$ROS_DISTRO-realsense2-description
sudo apt install -y ros-$ROS_DISTRO-robot-localization
sudo apt install -y ros-$ROS_DISTRO-interactive-marker-twist-server
sudo apt install -y ros-$ROS_DISTRO-twist-mux
sudo apt install -y ros-$ROS_DISTRO-joy
sudo apt install -y ros-$ROS_DISTRO-teleop-twist-joy
sudo apt install -y ros-$ROS_DISTRO-pointcloud-to-laserscan
sudo apt install -y ros-$ROS_DISTRO-imu-filter-madgwick
sudo apt install -y ros-$ROS_DISTRO-rviz-imu-plugin
sudo apt install -y ros-$ROS_DISTRO-gmapping
sudo apt install -y ros-$ROS_DISTRO-amcl
sudo apt install -y ros-$ROS_DISTRO-map-server
sudo apt install -y ros-$ROS_DISTRO-octomap-rviz-plugins
sudo apt install -y ros-$ROS_DISTRO-fake-localization

Install SDKs for sensors

• YDLIDAR SDK https://github.com/YDLIDAR/YDLidar-SDK

  git clone https://github.com/YDLIDAR/YDLidar-SDK.git
  cd YDLidar-SDK
  mkdir build
  cd build
  cmake ..
  make
  sudo make install

Install Cartographer SDK and Cartographer ROS

Follow the official link for Cartographer installation if there is any discrepancy.

• Install some ROS build tools if you haven't.

  sudo apt update

  sudo apt-get install -y python3-wstool python3-rosdep ninja-build stow

• Download source code and prepare worksapce. Since the source code doesn't need to stay after installation, you can do this at your temporary directory, such as Download.

  mkdir -p carto/catkin_ws
  cd carto/catkin_ws/
  wstool init src
  wstool merge -t src https://raw.githubusercontent.com/cartographer-project/cartographer_ros/master/cartographer_ros.rosinstall
  wstool update -t src

• Commment out libabsl-dev in src/cartographer/package.xml.

  <?xml version="1.0"?>
  <!--
  Copyright 2016 The Cartographer Authors
  
  Licensed under the Apache License, Version 2.0 (the "License");
  you may not use this file except in compliance with the License.
  You may obtain a copy of the License at
  
      http://www.apache.org/licenses/LICENSE-2.0
  
  Unless required by applicable law or agreed to in writing, software
  distributed under the License is distributed on an "AS IS" BASIS,
  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
  See the License for the specific language governing permissions and
  limitations under the License.
  -->
  
  <package format="3">
  <name>cartographer</name>
  <version>2.0.0</version>
  <description>
      Cartographer is a system that provides real-time simultaneous localization
      and mapping (SLAM) in 2D and 3D across multiple platforms and sensor
      configurations.
  </description>
  <maintainer email="[e-mail]">
      The Cartographer Authors
  </maintainer>
  <license>Apache 2.0</license>
  
  <url>https://github.com/cartographer-project/cartographer</url>
  
  <author email="[e-mail]">
      The Cartographer Authors
  </author>
  
  <buildtool_depend>cmake</buildtool_depend>
  
  <build_depend>git</build_depend>
  <build_depend>google-mock</build_depend>
  <build_depend>gtest</build_depend>
  <build_depend>python3-sphinx</build_depend>
  
  <depend>libboost-iostreams-dev</depend>
  <depend>eigen</depend>
  <!-- depend>libabsl-dev</depend -->
  <depend>libcairo2-dev</depend>
  <depend>libceres-dev</depend>
  <depend>libgflags-dev</depend>
  <depend>libgoogle-glog-dev</depend>
  <depend>lua5.2-dev</depend>
  <depend>protobuf-dev</depend>
  
  <export>
      <build_type>cmake</build_type>
  </export>
  </package>

• Install dependent ROS modules.

  rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y

  Cartographer uses the abseil-cpp library that needs to be manually installed using this script:

  src/cartographer/scripts/install_abseil.sh

• Build cartographer SDK and cartographer_ros

  catkin_make_isolated --install --use-ninja

  Install cartographer SDK and cartographer_ros to the systems's ros directory

  sudo cp -r install_isolated/lib/.     /opt/ros/$ROS_DISTRO/lib/.
  sudo cp -r install_isolated/include/. /opt/ros/$ROS_DISTRO/include/.
  sudo cp -r install_isolated/bin/.     /opt/ros/$ROS_DISTRO/bin/.
  sudo cp -r install_isolated/share/.   /opt/ros/$ROS_DISTRO/share/.

==Note==

If you installed ceres-solver from source code previously, you must uninstall it before building the Cartographer.

cd path-to-the-ceres-solver-bin
sudo make uninstall

Otherwise, you would see some CMake errors with CUDA::xxx messsages when you trey to build the Cartographer.

Packages

• scout_base: robot node that communicates with the robot hardware
• scout_bringup:a ROS wrapper around ugv_sdk to monitor and control the scout robot
• scout_control: robot control
• scout_description: URDF model for the mobile base, a sample urdf (scout_description/sample/scout_v2_nav.xacro) is provided for customized robot with addtional sensors
• scout_gazebo: simulation
• scout_msgs: scout related message definitions
• scout_navigation: robot control
• scout_viz: visualization of robot and sensors

Start Robot

Launch ROS nodes

A CAN port number must be given. The following code uses CAN1 as an example.

• IF: this is the first time to use this package, run this bash script to set up the CAN interface for your system.

  rosrun scout_bringup setup_can2usb.bash 1

• ELSE: Start CAN bus. Assumption: You're at ~/catkin_ws

  ./src/agribot_ros/start_can.sh 1

• Start the base node for scout. The CAN port number can be identified. The default joystick type is XBox. If you want to use the AgileX joystick, you should set agilex_joystick be true.

  roslaunch scout_bringup start.launch can:=1

Using Sensors

Realsense Camera

The default computing platform is set as xavier. If you're using a computer that is not xavier, set this param false when start.launch is used. The frames per second are set 15 for xavier

For Jetson Xavier

The following combination of the versions has been verified for the proper operations.

• Camera firmware : 5.13.0.50
• Realsense SDK version (librealsense2) : 2.50.0
• Real sense ROS Wrapper : 2.3.2

YDLidar

YDLidar ROS driver expects the serial port name as /dev/ydliar. Here is how to change a default linux serial port name and keep it.

https://github.com/YDLIDAR/YDLidar-SDK/blob/master/doc/howto/how_to_create_a_udev_rules.md

Enable/Disable Sensors

Through an environment varialbe

Before starting a launch file, you should set environment variables.

• YDLidar Enable

  export SCOUT_YDLIDAR_ENABLED=1

• YDLidar Disable

  export SCOUT_YDLIDAR_ENABLED=0

Through command line params in start.launch

• Start the robot with YDLidar enabled. (default: false)

  roslaunch scout_bringup start.launch can:=1 ydliar_enabled:=true

Test with Keyboard

rosrun teleop_twist_keyboard teleop_twist_keyboard.py _repeat_rate:=50.0

Test with Joystick

Make sure the mode switch is “X.” In XInput mode, the gamepad uses standard Windows XInput gamepad drivers. “D,” DirectInput is an older input standard for games on the Windows operating system.

The Enable Button (LB) must be held to control directions. When this button is released, the robot stops.

Teleop configuration for Logitech F710 Gamepad 
using the x-pad configuration.

Original User Interface Design in "teleop_twist_joy"
   Left thumb-stick up/down for velocity, left/right for twist
   LB for enable
   RB for enable-turbo

New Design for Agribot <-- This is the current default selection
   Left thumb-stick (LJ) up for thrtttle
   Left thumb-stick (LJ) down for brake
   NOTE: 
        No brake is for the Scout robot. 
        When Left thumb-stick is down with the FORWARD gearshift, 
        the robot actually moves backward.
   Left thumb-stick (LJ) left/right for twist
   LB for enable
   RB for enable-turbo
   Gearshift:
       Y: Forward
       A: Reverse
       B: Neutral

        (LB)                                 (RB)
        (LT)                                 (RT)
      _=====_            D(  .)X            _=====_
     / _____ \                             / _____ \
   +.-'_____'-.---------------------------.-'_____'-.+
  /   |     |  '.                       .'  |      |   \
 / ___| /|\ |___ \ (back)(Lgtc)(strt)  / ___| (Y)  |___ \
/ |      |      | ;  __           __  ; |              | |
| | <---   ---> | | (__) .       (__) | | (X)       (B)| |
| |___   |   ___| ; MODE         VIBE ; |___       ____| /
|\    | \|/ |    /  _     ___      _   \    | (A) |    /|
| \   |_____|  .','" "', |___|  ,'" "', '.  |_____|  .' |
|  '-.______.-' /       \ANALOG/       \  '-._____.-'   |
|               |  LJ   |------|   RJ  |                |
|              /\       /      \       /\               |
|             /  '.___.'        '.___.'  \              |
|            /                            \             |
 \          /                              \           /
  \________/                                \_________/

roslaunch scout_control teleop_joystick.launch

SLAM Test

Gmapping: Build a map

If you test a SLAM inside the Gazebo, start a Gazebo with a world file. The available world names are

• scout_playpen
• scout_orchard_world

roslaunch scout_gazebo <world_name>.launch

Open another terminal.

roslaunch scout_navigation gmapping.launch

Drive the robot to build a map. You can save a map using map_saver of map_server.

rosrun map_server map_saver -f <map-filename>

AMCL: Navigate with a map

Start amcl_navigation.

roslaunch scout_navigation amcl_navigation.launch map_file:=<map_file.yaml> 

In the rviz, you will see a map. Set a goal with the 2D Nav Gaol button. If the goal position can make a path from the current robot position, the robot will start moving.

• Make sure Navigation is checked in the Rviz.
• You will see a map.
• Set a goal with the 2D Nav Gaol button.

RTabMap

For RTabMap, rtabmap_map and rtabmap_navigation use a different rviz configuration. So, scout_gazebo is not supposed to start rviz. Use rviz:=false

roslaunch scout_gazebo <world_name>.launch rviz:=false

Map Buidling

The map_id is used to identify a map. If you build several maps, you can idenfify a map with map_id.

roslaunch scout_navigation rtabmap_map.launch map_id:=<map_id>

This is an example of a map visualize by rtabmap-databaseViewer.

Navigation

Note that RTabMap does not use amcl for navigation. The map_id is used to identify a map. If you build several maps, you can idenfify a map with map_id.

roslaunch scout_navigation rtabmap_navigation.launch map_id:=<map_id>

Use Rviz to set a goal position and orientation.

Acknowledgments

System Design and Implementation

• Jaerock Kwon, PhD, Assistant Professor, Electrical and Computer Engineering, University of Michigan-Dearborn

Implementation and Contributors

• Woojin Jeong, PhD, WApplE Cloud Co., Ltd., Korea
• Young Seek Cho, PhD, Professor at Wonkwang University, Korea
• Elahe Delavari, PhD student, Electrical and Computer Engineering, University of Michigan-Dearborn
• Feeza Khanzada, PhD student, Electrical and Computer Engineering, University of Michigan-Dearborn

References

• https://github.com/husky/husky/tree/noetic-devel
• https://github.com/agilexrobotics/scout_ros
• https://docs.trossenrobotics.com/agilex_scout_20_docs/
• https://docs.trossenrobotics.com/agilex_limo_docs/demos.html