dasc-lab / hri_xavier_script

Human Robot Interaction Outreach Project with Augmented Reality Headset

System Overview

An overhead camera streams an aerial live video of a ground robot to a hologram on Hololens 2, where the user would have three options to move the ground robot with the holographic interface. The first option is to direct the robot to one desired location by air-tapping on the holographic interface. Alternatively, the user would select waypoints in a sequential order in a pre-designed route. Finally, the user could also click buttons that would make the robot perform specified tasks such as ’spin’ or ’advance one meter’. The interface displays the past and predicted route of the robot on the hologram to reduce cognitive load and improve user experience.

The hologram displays the past and predicted optimal trajectories as blue dashed and solid lines respectively. When the user selects a target point by air-tapping on the interface, a red dot will be displayed and when the rover reaches the target coordinate, the red dot would disappear.

Hardware Components/Prerequisites

The system comprises

• a Jetson Xavier as the processing unit of the drone
• an Intel RealSense Camera D435 that will be strapped onto the drone. During the testing phase, the camera is strapped onto a beam that faces the ground.
• a Microsoft Hololens that the user will interact with
• a ground station computer to monitor and interact with the rover
• a ground rover in Differential Drive mode
  • A Raspberry Pi as the processing unit for the rover
  • Orange Cube
• Vicon Coordinate System that provides real time information about the pose of the robot. Note that a minimum of three 'Vicon Pearls' would be needed.

Software Prerequisites

On Xavier:

• Robot Operating System 2 (ROS2)
• OpenCV2 and Numpy
• Realsense libraries
• Vicon Bridge git clone https://github.com/dasc-lab/ros2-vicon-bridge.git

On Rover:

• Install docker on Raspberry PI
• PX4-Autopilot-Quad flashed onto Orange cube
  • Clone 'Rover' brach: git clone -b rover https://github.com/dev10110/PX4-Autopilot-Quad.git
  • in folder run the following command:
    • make cubepilot_cubeorange_dasc
• QGC software installed on ground station computer
• ground station git clone https://github.com/dasc-lab/rover_groundstation_ros2_jumpstart.git

System and Terminal Setup

Vicon

• Initializes Vicon coordinate frame and start tracking your robot.
  • At least three Vicon dots will need to be placed on the robot for the tracker to initialize the robot in the system.
  • Initialize the robot in the system by selecting the three Vicon dots attached to the robot in the 'Object' tab of the interface and enter a name for it.
  • Save the object as public
  • Click 'Track' to start broadcasting the pose and coordinate of the robot through ROS2

Xavier

• Set up Vicon Bridge
  • Open up a terminal window and in your project /ros2_ws/src folder, enter source install/setup.bash Note: It is recommended that you put this line in .bashrc file
  • Navigate to the directory that holds all_segments.launch.py and modify the IP address to Vicon computer IP address.
  • Run Vicon bridge with the command ros2 launch vicon_bridge all_segments.launch.py
  • (Optional) In a new terminal, run the command ros2 topic list to see the current available topics
  • In a new terminal, run the command `ros2 topic echo /your_topic_name' to visualize the broadcast information
• Set up PX4_msgs
  • Download px4_msgs_main and move it to ~ros2_ws/src
  • colcon_build --symlink-install, for more info, see colcon_build

Rover

• Set up Raspberry PI (on ground station computer)
  • SSH into Raspberry PI onboard the rover (may take minutes for Raspberry Pi to boot up)
  • cd rover_px4_ros2_jumpstart
  • docker compose build (first time)
  • docker compose up -d
  • docker exec -it rover_px4_ros2_ bash (use tab-complete)
  • ros2 launch all_launch px4.launch.py
  • launch QGC software
• On local ground station computer
  • Navigate to rover_groundstation_ros2_jumpstart
  • docker compose build (first time)
  • docker compose up -d
  • ros2 launch ground_station gs.launch.py (tab complete)
  • If an error occurs, open up a new window in the terminal and type in command xhost + and try the prior steps

Camera Calibration

It is recommended that you calibrate the camera for better coordinate transformation results. We will be utilizing apriltags and cv2.solvePnP() to calibrate the camera extrinsic matrix. We printed out 6 apriltags of the same family and laid them on known coordinates of the ground. Using the apriltag library provided by python, we can obtain the pixel coordinates of the apriltag points and find the correspondence. cv2.solvePnP() would output the extrinsic matrix

Socket Communication

In python script xavier_node_multithreading_dashed.py, change the variable self.HOST to the IP address of your Xaiver.