iitbmartian / rover-mobility

Rover NUC Arm, Drive and LED Codes

Documentation for On-Rover Setup

Setting up the NUC

Install Ubuntu (username: rover, hostname: MRT-NUC), Open-SSH, Git, ROS-Noetic and Alias python3 as python

Setting up SSH

• Connect the NUC via wired network (LAN) to the Router
• Setup the IP Address as 192.168.2.2 and Netmask as 255.255.255.0
• Add it to /etc/hosts file for hostname resolution (required for ROS setup)
• Add the IP Address of base station as well (for example: 192.168.2.3 iitbmartian-H310M-S2)
• Reboot the NUC

Creating Workspace

• Create a new directory rover_ws, create directory src, and run catkin_make
• Git pull rover-mobility in src, and catkin_make

Roboclaws Setup

Roboclaw Documentation

All 6 roboclaws are to be setup in packet serial modes.

• Roboclaw User Manual
• Roboclaw Datasheet

Locking the Roboclaws

• After powering on all the roboclaws and connecting to the NUC, use cd /dev to move into the dev directory and use ls -ll to display all the plugged in connections. Ensure there exists 6 /ttyACM* connections. (* - 0 to 5)
• To find the devpath for each roboclaw, use
  udevadm info -a -n /dev/ttyACM* | grep '{devpath}'
  (do it for all * - 0 to 5)
• Make a .rules file in /etc/udev/rules.d starting with numbers above 50 (eg 72-<filename>.rules)
• The six Roboclaws are to be given the following SYMLINK names:
  Fdrive, Bdrive, Cdrive, shoulder_elbow_actuators, base_finger_motors, wrist_rotation_motors
• Current rules files is as shown, and modify parameters accordingly

ACTION=="add", ATTRS{product}=="USB Roboclaw 2x45A" ,ATTRS{devpath}=="1.1" ,SYMLINK+="shoulder_elbow_actuators", OWNER="rover", GROUP="rover"
ACTION=="add", ATTRS{product}=="USB Roboclaw 2x45A" ,ATTRS{devpath}=="1.2" ,SYMLINK+="base_finger_motors", OWNER="rover", GROUP="rover"
ACTION=="add", ATTRS{product}=="USB Roboclaw 2x45A" ,ATTRS{devpath}=="1.3" ,SYMLINK+="wrist_rotation_motors", OWNER="rover", GROUP="rover"
ACTION=="add", ATTRS{product}=="USB Roboclaw 2x45A" ,ATTRS{devpath}=="2.1" ,SYMLINK+="Fdrive", OWNER="rover", GROUP="rover"
ACTION=="add", ATTRS{product}=="USB Roboclaw 2x45A" ,ATTRS{devpath}=="2.3" ,SYMLINK+="Bdrive", OWNER="rover", GROUP="rover"

• Change devpath/product etc to get your device running. Don't forget to sudo udev restart after publishing new rules for a device

Description of the packages

Name of Package	Description	Subscribed rostopics	Published rostopics
rover_drive	Drive Package: Running RoboClaws Fdrive, Bdrive, Cdrive	/rover/drive_directives/manual /rover/drive_directives/autonomous /rover/drive_directives	/rover/drive_directives
rover_arm	Arm Package: Running RoboClaws shoulder_elbow_actuators, base_finger_motors, wrist_rotation_motors	/rover/arm_directives	-
rover_light	For LED Lights	/rover/drive_directives /rover/tasks_status /rover/light	/rover/light
rover_measure	Measuring voltage and current supply	-	/rover/measure

rover_msg contains the custom ROS message types arm_msg and drive_msg