NeuronBot 2 in ROS2

Introduction

NeuronBot2 is the newest version of NeuronBot make by Adlink, which fully supports ROS1 and ROS2.

Features

Nice
Good
Awesome
Wonderful
Magnificent
Impressive
Intimidating
Stunning
Extraordinary
Superb

This package includes the functions to bring up the robot, to make it SLAM, to navigation, and to simulate it with your own computer, testing the same functions mentioned before.

Users are able to checkout to different branch of this package to run on ROS1(melodic-version) and ROS2(dashing-version).

# For ROS melodic
git checkout melodic-dev

# For ROS2 Dashing
git checkout dashing-devel

Installation

Follow this official installing tutorial. For the sake of convenience, you might want to download ros-dashing-desktop version to make sure all the dependencies are installed.

Install ROS2
Create workspace
```
mkdir -p ~/neuronbot2_ros2_ws/src
```

Git clone this package

cd ~/neuronbot2_ros2_ws/
wget https://gist.githubusercontent.com/airuchen/dd5e7962706b32ffaa8d46ba905fea91/raw/d21c4fe2ca0d494202cf84c734c9e8cbca769ff1/NeuronBot2_ros2.repos
vcs import src < NeuronBot2_ros2.repos

Install dependencies

cd ~/neuronbot2_ros2_ws/
rosdep update
rosdep install --from-paths src --ignore-src -r -y # Show my respect to this line

Colcon build the package

cd ~/neuronbot2_ros2_ws/
source /opt/ros/dashing/setup.bash
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
source ~/neuronbot2_ros2_ws/install/local_setup.bash

Bring up your NeuronBot2

Now, it's time to launch your NeuronBot2 and do a Robotic-Hello-World thing -- telop it.

Launch NeuronBot2

Open a new terminal (Ctrl + Alt + t).

source /opt/ros/dashing/setup.bash
source ~/neuronbot2_ros2_ws/install/local_setup.bash
ros2 launch neuronbot2_bringup neuronbot2_bringup.launch.py

Teleop NeuronBot2

source /opt/ros/dashing/setup.bash
ros2 run teleop_twist_keyboard teleop_twist_keyboard

Follow the hints and start to cruise your NeuronBot2.

SLAM your map

Launch SLAM as well as Rviz.

We provide three slam methods.

Gmapping

ros2 launch  neuronbot2_slam gmapping.launch.py open_rviz:=true

Slam_toolbox

ros2 launch  neuronbot2_slam slam_toolbox.launch.py open_rviz:=true

Cartographer

ros2 launch  neuronbot2_slam cartographer.launch.py open_rviz:=true

Teleop NeuronBot2 to explore the world

# Run on the other terminal
source /opt/ros/dashing/setup.bash
ros2 run teleop_twist_keyboard teleop_twist_keyboard

Save the map

source /opt/ros/dashing/setup.bash 
ros2 run nav2_map_server map_saver -f <map_dir>/<map_name>

The map is ready and SLAM can be turned off.

Navigation

Try navigation on your own map.

ros2 launch neuronbot2_nav neuronbot2_nav.launch.py map_dir:=<full_path_to_your_map_name.yaml> open_rviz:=true

Set Estimation

Click "2D Pose Estimate", and set estimation to the approximate location of robot on the map.
Set Goal

Click "2D Nav Goal", and set goal to any free space on the map.

Bring up in Simulation

Summon the NeuronBot2 into Gazebo

Specify the model path for Gazebo

source /opt/ros/dashing/setup.bash
source ~/neuronbot2_ros2_ws/install/local_setup.bash

Launch Gazebo simulation.

There are two worlds for users to explore.

Mememan world

ros2 launch neuronbot2_gazebo neuronbot2_world.launch.py world_model:=mememan_world.model

Phenix world

ros2 launch neuronbot2_gazebo neuronbot2_world.launch.py world_model:=phenix_world.model

Teleop it in the world

Users are able to control the NeuronBot2 with the following rosnode. Run it with the other terminal.
```
source /opt/ros/dashing/local_setup.bash
ros2 run teleop_twist_keyboard teleop_twist_keyboard
```
p.s. To alleviate CPU consumption, close GAZEBO GUI by clicking x. This will not end the simulation server, which is running backend

SLAM the world

Launch SLAM as well as Rviz while the Gazebo simulation is running.

We provide three slam methods.

Gmapping

ros2 launch  neuronbot2_slam gmapping.launch.py open_rviz:=true

Slam_toolbox

ros2 launch  neuronbot2_slam slam_toolbox.launch.py open_rviz:=true

Cartographer

ros2 launch  neuronbot2_slam cartographer.launch.py open_rviz:=true

Teleop NeuronBot2 to explore the world

# Run on the other terminal
source /opt/ros/dashing/setup.bash
ros2 run teleop_twist_keyboard teleop_twist_keyboard

Save the map

source /opt/ros/dashing/setup.bash 
ros2 run nav2_map_server map_saver -f <map_dir>/<map_name>

Then, you shall turn off SLAM.

Navigate to the desired location

Once users obtain the map, the pgm file & yaml file, navigation is good to go.

Try navigation on your own map.

ros2 launch neuronbot2_nav neuronbot2_nav.launch.py map_dir:=<full_path_to_your_map_name.yaml> open_rviz:=true

Launch Navigation as well as Rviz while the Gazebo simulation is running. Default map is set to mememan.yaml.

Navigate in mememan map

ros2 launch  neuronbot2_nav neuronbot2_nav.launch.py map_dir:=/home/<user_name>/neuronbot2_ros2_ws/src/neuronbot2/neuronbot2_nav/map/mememan.yaml open_rviz:=true

Navigate in phenix map

ros2 launch  neuronbot2_nav neuronbot2_nav.launch.py map_dir:=/home/<user_name>/neuronbot2_ros2_ws/src/neuronbot2/neuronbot2_nav/map/phenix.yaml open_rviz:=true

Try navigation on your own map. Put the <map_name>.yaml and <map_name>.pgm into " ~/neuronbot2_ros2_ws/src/neuronbot2/neuronbot2_nav/map/ "

ros2 launch neuronbot2_nav neuronbot2_nav.launch.py map_name:=<map_name>.yaml open_rviz:=true

Set Estimation

Click "2D Pose Estimate", and set estimation to the approximate location of robot on the map.
Set Goal

Click "2D Nav Goal", and set goal to any free space on the map.

Control with Behavior Tree

To run this demo, users should execute Gazebo server and Navigation (with Rviz for visualization) first.

Open the other terminal and source the environment variables.

source /opt/ros/dashing/setup.bash
source ~/neuronbot2_ros2_ws/install/local_setup.bash

Run Behavior Tree

ros2 launch neuronbot2_bt neuronbot2_bt.launch.py bt_xml:=neuronbt.xml

Trouble Shooting

If you see below warning messages after NeuronBot performing navigation, don't worry, it has been fixed at ROS 2 Eloquent.

airuchen / neuronbot2