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A homemade mecanum wheels based robot car, running Robot OS on a Raspberry Pi, with an additional STM32 board, dedicated to motors & making possible to drive the car with a PS2 controller.

This repository gathers the Raspberry Pi files, a.k.a. the ROS car application (RCAP).

Install Ubuntu Mate 20.04.3 LTS (a.k.a. Focal Fossa)

Update Ubuntu & add some regular tools

  • sudo apt-get update
  • sudo apt-get upgrade
  • sudo apt-get install vim pyyaml
  • sudo apt-get install libssl-dev
  • sudo apt-get install i2c-tools libi2c-dev smbus
  • sudo apt-get install curl gnupg2 lsb-release
  • sudo apt-get install libpython3-dev python3-pip
  • sudo pip3 install transforms3d

Setup a local network between the robot car and local Windows PC

  • sudo ufw disable
  • sudo ifconfig enp0s8 192.168.1.45
  • sudo route add default gw 192.168.1.254 enp0s8
  • sudo /etc/init.d/networking restart

Setup SSH

  • sudo apt-get openssh-server

Setup VNC

  • sudo apt-get install tightvncserver

  • tightvncserver

Enter and confirm password Enter no view-only password

  • sudo vim /etc/systemd/system/tightvncserver.service

[Unit] Description=TightVNC remote desktop server
After=sshd.service

[Service] Type=dbus ExecStart=/usr/bin/tightvncserver :1 User=pi Type=forking

[Install] WantedBy=multi-user.target

  • sudo chown root:root /etc/systemd/system/tightvncserver.service
  • sudo chmod 755 /etc/systemd/system/tightvncserver.service
  • sudo systemctl start tightvncserver.service
  • sudo systemctl status tightvncserver.service
  • sudo systemctl enable tightvncserver.service

Setup serial port

  • sudo systemctl disable hciuart

  • sudo systemctl disable hciuart.service

  • sudo systemctl disable bluetooth.service

  • sudo systemctl stop [email protected]

  • sudo systemctl disable [email protected]

  • sudo systemctl mask [email protected]

  • sudo usermod -a -G dialout pi

  • sudo usermod -a -G tty pi

  • sudo vim /boot/firmware/usercfg.txt

enable_uart=1 dtoverlay=disable-bt

  • sudo vim /boot/firmware/cmdline.txt

Remove any "console=ttyAMA0,115200", if found

Install ROS2

  • sudo apt-get install locales

  • sudo locale-gen en_US en_US.UTF-8

  • sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8

  • export LANG=en_US.UTF-8

  • locale

  • sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg

  • echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null

  • sudo apt-get update

  • sudo apt-get install python3-rospkg

  • sudo apt-get install ros-galactic-desktop

  • sudo apt-get install ros-galactic-teleop-twist-keyboard

  • sudo apt-get install ros-galactic-tf2-tools ros-galactic-tf-transformations

  • echo "source /opt/ros/galactic/setup.bash" >> ~/.bashrc

  • source ~/.bashrc

  • rosversion --distro

  • ros2 doctor --report

  • ros2 run demo_nodes_cpp talker &

  • ros2 run demo_nodes_cpp listener &

  • killall talker listener

Setup & try LIDAR

  • ls -l /dev | grep ttyUSB

  • sudo chmod 666 /dev/ttyUSB0

  • git clone https://github.com/Slamtec/rplidar_ros.git

  • cd rplidar_ros

  • git checkout ros2

  • colcon build --symlink-install

  • source install/setup.bash

  • ros2 run tf2_ros static_transform_publisher 0 0 0 0 0 0 map laser &

  • ros2 launch rplidar_ros view_rplidar.launch.py &

  • rviz2 -d rviz/rplidar_ros2.rviz

Try & calibrate MPU9250 IMU

  • i2cdetect -y 1

  • cd tools

  • python3 calibrate_imu.py

Install Navigation2 (Nav2)

  • sudo apt-get install ros-galactic-navigation2

  • sudo apt-get install ros-galactic-nav2-bringup

  • sudo apt-get install ros-galactic-slam-toolbox

  • sudo apt-get install ros-galactic-robot-localization

  • sudo apt-get install ros-galactic-joint-state-publisher-gui

  • sudo apt-get install ros-galactic-rqt-robot-steering

  • sudo apt-get install ros-galactic-xacro

  • ros2 launch rcap rcap.vm.display.launch.py

  • rviz2 -d config.simulation.rviz

  • ros2 launch slam_toolbox online_async_launch.py

  • ros2 launch nav2_bringup navigation_launch.py

  • ros2 launch nav2_bringup navigation_launch.py params_file:=/home/stef/RCAP/robot_car/config/nav2.simulation.yaml

  • ros2 run nav2_costmap_2d nav2_costmap_2d_markers voxel_grid:=/local_costmap/voxel_grid visualization_marker:=/my_marker

  • rqt_robot_steering --force-discover

  • ros2 run teleop_twist_keyboard teleop_twist_keyboard

  • ros2 topic pub /goal_pose geometry_msgs/PoseStamped '{header: {stamp: {sec: 0, nanosec: 0}, frame_id: "map"}, pose: {position: {x: 1.0, y: 0.0, z: 0.0}, orientation: {w: 1.0}}}' -1

  • ros2 topic echo /goal_pose

Commands found usefull while learning/testing

  • ros2 run joint_state_publisher_gui joint_state_publisher_gui description/robot_car.urdf

  • ros2 run tf2_ros static_transform_publisher 0 0 0 3.14 0 0 base_link lidar_link

  • ros2 run teleop_twist_keyboard teleop_twist_keyboard

  • rqt_graph

  • ros2 run tf2_tools view_frames

  • xdg-open frames.pdf

  • sudo service apport stop