rasheeddo / ATCart-Delivery

ATCart-Delivery

A prototype code to get data from momo/ayame WebRTC to control rover.

Dependencies

• momo binary file from here
• download maestro servo controller from here to control a door
• download dronekit to communicate to Ardupilot by pip3 install dronekit, and don't forget to add youself to dialout group by this command
  • sudo usermod -a -G dialout <username>
• YDLidar TG30 to send distance data to Ardupilot for object avoidance here
• better to make a usb udev rules for each device
  • from this command udevadm info --name=/dev/ttyUSBx --attribute-walk check on idVendor and idProduct on very first
  • create rules file by sudo touch /etc/udev/rules.d/99-usb-serial.rules
  • put this content in the file, change the symlink name to what your device name, and edit idVendor and idProduct to your device

     ACTION=="add", ATTRS{idVendor}=="xxxx", ATTRS{idProduct}=="xxxx", SYMLINK+="u2d2"
     ACTION=="add", ATTRS{idVendor}=="xxxx", ATTRS{idProduct}=="xxxx",  SYMLINK+="usb_uart"
     ACTION=="add", ATTRS{idVendor}=="xxxx", ATTRS{idProduct}=="xxxx",  SYMLINK+="ydlidar"
    

  • reload rule by sudo udevadm control --reload-rules
  • sudo reboot to make it effective.

Run

1. You will need to start two pair of /dev/pts/x port by using a scripts 1st_socat.sh and 2nd_socat.sh . First pair, /dev/pts/0 and /dev/pts/1 would be used wiht momo camera and console data channels. Second pair, /dev/pts/2 and /dev/pts/3 would be used for momo gamepad data channel. Once the pseudo ports are available, we can start three of momo with the correct serial port string.
2. Start Data-Handling-Modules as,

python3 console-data-receiver.py --console_port /dev/pts/1 --gamepad_port /dev/pts/3

python3 data-publisher.py --console_port /dev/pts/1

console-data-receiver will keep listening for the new data on console_port and gamepad_port, then it will manage those data and pass it to correct Robot-Module that needs.

data-publisher will get data from cubepilot-interface and also LOAD message from console-data-receiver and keep publishing the data with the constant rate specified at the end of script.

3. Start Robot-Modules as,

python3 cubepilot-interface.py

python3 door-control.py

./ydlidar_cv 127.0.0.1 <your ip> (this is from another repo)

cubepilot-interface will keep listening for new data from console-data-receiver and also the LIDAR distance message from YDLidar. In case if throttle and steering got hang up and there is no data arrive, then it will set those PWM values to middle for failsafe. turn(), goLeft(), goRight(), goForward() are using Ardupilot Guided mode. If console-data-receiver got waypoint, it will save to file and set GOT_WP flag to let cubepilot-interface knows that new mission arrived, then just upload it to the Cube.

ydlidar_cv is getting data from YDLidar driver TG30 and pass interested range of data to the cubepilot-interface.

door-control will keep listening for OPEN and CLOSE message from console-data-receiver. It's using maestro servo controller to generate PWM signal to the USB servoer controller board. The actuator is linear actuator with simple kill switch at both ends.

Please check on the diagram above.

Note

• All of the scripts have a little delay sleep at the end to reduce CPU load, and it should be low enough not to affect on UDP socket recvfrom() function.

• Separate the code to each module and let it communicate via socket is better than put everything it one script with threading. When there is some error occurs on one module, that module just restart and not affect to other running modules.

• I am using Logicool F310 gamepad