arbanhossain / warehouse-mobile-robot

autonomous warehouse indoor delivery robot in ROS

Find the Laptop and Pi IP by typing ifconfig in respective terminal windows.

SSH into Raspberry Pi from Laptop: ssh bot@$ip_address$. (Open 4-5 SSH terminals)

Make sure communication between Laptop ROS and Pi ROS is working.

Add the following to your .bashrc:

For Pi:

export ROS_DOMAIN_ID=1
export ROS_MASTER_URI=https://localhost:11311/
export ROS_HOSTNAME=$RaspberryPiIPaddr$
export ROS_IP=$RaspberryPiIPaddr$

For Laptop:

export ROS_DOMAIN_ID=1
export ROS_MASTER_URI=https://$RaspberryPiIPaddr$:11311/
export ROS_HOSTNAME=$LaptopIPaddr$
export ROS_IP=$LaptopIPaddr$

If ROS nodes from one machine do not show up on the other, execute:

ros2 daemon stop
ros2 daemon start

on both machines. If the issue persists, restart both machines.

On Pi

Give permission to ports:

• sudo chmod 777 /dev/i2c-*
• sudo chmod 777 /dev/gpiomem
• sudo chmod 777 /dev/ttyUSB0
• sudo chmod 777 /dev/ttyACM*

Launch ROS packages and nodes:

• Robot system: ros2 launch basic_mobile_robot basic_mobile_bot_v3.launch.py use_simulator:=False use_sim_time:=False
• Lidar: ros2 launch rplidar_ros rplidar_a1_launch.py scan_mode:=Standard frame_id:=base_link
• Map: ros2 launch slam_toolbox online_async_launch use_sim_time:=False
• Controller-ROS interface: ros2 launch serial_stuff motor_pub /dev/ttyACM0
• LFR-ROS interface: ros2 run gui_pack gui

---

Switch to LFR mode: ros2 topic pub --once /gui std_msgs/msg/String "{data: 'lfr'}" (Execute again after table is picked up.)

Put down Car Jack: ros2 topic pub --once /gui std_msgs/msg/String "{data: 'car'}" (Execute again after car jack is down.)

On Laptop

• Controller: rqt_robot_steering