Robot

Run Info

Start ROS services (on patrick)

# roscore
sudo systemctl start roscore.service 

# rover robotics
sudo systemctl start roverrobotics.service

# Basic Services for robot:
#   joystick -> cmd_vel
#   tf for base_link->gq7_link
roslaunch autonomy_manager basic.launch

# GPS
# Params file Info: https://github.com/LORD-MicroStrain/microstrain_inertial_driver_common/blob/6d62789b0492e28a0e4b86be8b4dc0e562d08a5e/config/params.yml
roslaunch microstrain_inertial_localization gq7_odom.launch

Start Joystick publisher (on remote)

# joystick publisher
rosrun joy joy_node

pip requirements

pyqtgraph pyqt6 scipy pandas scikit-learn shapely wget matplotlib pyyaml pyqtdarktheme rospkg

System Info

Intel NUC 13th Gen: 12.0V – 19 V

Network Info

HEBI Arm

It is connected to eth0 and uses a static IP configuration.

ROBOT IP, Netmask, Gateway: 192.168.0.200, 24, 192.168.0.1
HEBI IP : 192.168.0.102

PXRF

It is connected to usb1, a USB ethernet module. It might use DHCP.

ROBOT IP, Netmask, Gateway: 192.168.7.10, 24, 192.168.7.1
PXRF IP : 192.168.7.2

RTK GPS

TF Measurements

COM -> FRONT_ANTENNA        (+0.1442, +0.1207, 0)
  x = 203.2 - 25 - 34 => 144.2   mm
  y = 132.715 - 12    => 120.715 mm

COM -> BACK_ANTENNA         (-0.1270, -0.1300, 0)
  x =         => 127 mm
  y = 96 + 34 => 130 mm

COM -> IMU                  (-0.0162, -0.0953, +0.0074)
  x = 22.2 - 6    => 16.2  mm
  y = 114 - 18.72 => 95.28 mm
  z =             => 7.37  mm

IMU -> FRONT_ANTENNA        (0.1746+0.0162, 0.1547+0.0953)
IMU -> FRONT_ANTENNA        (0.1908,0.25)

IMU -> BACK_ANTENNA         (0.189-0.0162, 0.1547-0.0953)
IMU -> BACK_ANTENNA         (0.1728, 0.0594)

OLD IMU -> FRONT_ANTENNA        (+0.1604, +0.2160, -0.0074)
OLD IMU -> BACK_ANTENNA         (-0.1108, -0.0347, -0.0074)

Topics

/gq7/ekf/odometry_earth : Earth ECEF Position
/gq7/mip/gnss_1/fix_info: fix_type = 0 if GNSS1 is fixed
/gq7/mip/gnss_2/fix_info: fix_type = 0 if GNSS2 is fixed
/gq7/ekf/llh_position   : Lat-Long-Altitude Data of EKF filter 
/gq7/gnss_1/llh_position: Lat-Long-Altitude Data of GNSS1
/gq7/gnss_2/llh_position: Lat-Long-Altitude Data of GNSS2
/gq7/ekf/dual_antenna_heading: Dual Antenna Heading
/gq7/ekf/status: dual_antenna_fix_type = "Dual Antenna Fixed" and status_flags has only 'Stable'
/gq7/ekf/odometry_map   : Odometry Map Position

Manager

OLD State Machine

flowchart TD;
    INIT --> WAITING_FOR_GPS_INIT;
    WAITING_FOR_GPS_INIT --> READY;
    READY --> RECEIVED_SEARCH_AREA;
    RECEIVED_SEARCH_AREA --> |adaptive| RUNNING_SEARCH_ALGO --> RECEIVED_NEXT_SCAN_LOC --> NAVIGATION_TO_SCAN_LOC;
    RECEIVED_SEARCH_AREA --> |grid| RUNNING_GRID_ALGO --> RECEIVED_NEXT_SCAN_LOC --> NAVIGATION_TO_SCAN_LOC;
    NAVIGATION_TO_SCAN_LOC --> ARRIVED_AT_SCAN_LOC;
    RECEIVED_SEARCH_AREA --> |waypoint| RUNNING_WAYPOINT_ALGO --> RECEIVED_NEXT_SCAN_LOC --> NAVIGATION_TO_SCAN_LOC;
    ARRIVED_AT_SCAN_LOC --> RAKING;
    ARRIVED_AT_SCAN_LOC --> SCANNING;
    RAKING --> FINISHED_RAKING --> SCANNING;
    SCANNING --> FINISHED_SCAN;
    

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CURRENT State Machine

flowchart TD;
    INIT --> READY;
    READY --> RECEIVED_SEARCH_AREA;
    RECEIVED_SEARCH_AREA --> |adaptive| RUNNING_SEARCH_ALGO --> RECEIVED_NEXT_SCAN_LOC --> NAVIGATION_TO_SCAN_LOC;
    RECEIVED_SEARCH_AREA --> |grid| RUNNING_GRID_ALGO --> RECEIVED_NEXT_SCAN_LOC --> NAVIGATION_TO_SCAN_LOC;
    NAVIGATION_TO_SCAN_LOC --> ARRIVED_AT_SCAN_LOC;
    RECEIVED_SEARCH_AREA --> |waypoint| RUNNING_WAYPOINT_ALGO --> RECEIVED_NEXT_SCAN_LOC --> NAVIGATION_TO_SCAN_LOC;
    ARRIVED_AT_SCAN_LOC --> ARM_LOWERING;
    ARM_LOWERING --> ARM_LOWERED;
    ARM_LOWERED --> SCANNING;
    SCANNING --> FINISHED_SCAN;
    FINISHED_SCAN --> ARM_RETURNING;
    ARM_RETURNING --> ARM_RETURNED;
    

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Code Logic

• DeployAutonomy is a list of (lat, lan) and returns success if path was successfully followed

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Scripts in Autonomy Manager

• adaptiveROS.py:
  • Adaptive Sampling Algorithm
• autonomy_teleop.py
  • defunct and replaced by autonomy_teleop_instant.py
• autonomy_teleop_instant.py
  • teleop
• boundaryCheck.py:
  • Contains one function boundaryCheck()
  • used in adaptiveROS.py, boundaryConversion.py and gridROS.py
• boundaryConversion.py
  • GPS related functions
  • used in manager.py, dataParser.py, test_adaptive.py and test.py
• bugAlgo.py
  • Bug Obstacle avoidance
  • has a function forward_section() to get the forward obstacle section of the obstacle map, which is used in ObsAvoidance.py
  • the bug obstacle_avoidance() function seems to not be used @medium
• calibration.py
  • for fetching initial from GPS and some driving
  • could be replaced by the new RTK GPS module
  • run from the GUI and manager.py runs after calibration
• curve_graph.py
  • example code to plot Adaptive vs Boustrophedon
  • y label = EMD, not sure how they EMD values @medium
  • deprecated
• dataParser.py
  • sample code for using visualizer but the function visualizer() is used only inside this file @medium
  • deprecated
• dummy_services.py
  • dummy services to emulate robot? @medium
  • deprecated
• environmentGeneration.py
  • functions to generate random distributions and random obstacles
  • generateRandomDistribution() used in dataParser.py
• gridROS.py
  • Grid Search Algorithm
  • used in manager.py
• manager.py
  • State Machine
• ObsAvoidance.py
  • Obstacle Avoidance Algorithm
• postProcessing.py
  • plotting function visualizer() used in adaptiveROS.py
  • Plotter
  • is is used during robot execution or after? @medium
• teleop_drive.py
  • Teleop
    • only telop without autonomy teleop
    • deprecated
• test.py
  • test functions in boundaryConversion.py
  • deprecated
• test_adaptive.py
  • test adaptive in simulation @medium
• todo.md

environmental_robots

camera (Removed)

• camera.py
  • HEBI camera controller for Loaner HEBI robot
• hebi_teleop.py
  • HEBI teleop which might be something we don't use anymore
  • refer for arm helper functions
• pan_tile_ctrl.py
  • Loaner HEBI robot camera
• tools_arms_ctrl.py
  • Arm tool control not used
  • refer for arm helper functions

gps_navigation

• gps_user_input.py
  • actual GUI code
  • Ian made changes for services and topics
• gps_navigation_rviz.py
  • might be defunct and not used
  • removed
• gps_navigation.py
  • future version of gps_navigation_rviz.py?
  • might be defunct and not used
  • some kind of PID controller to go to a location
  • removed
• gps_user_location.py
  • read_location() is used by gps_user_input.py
• rake_measure.py
  • defunct @high
• test.py
  • some test code for parking brake
  • defunct @high
• tile.py
  • used in gps_user_input.py
• Removed all scripts
• Removed kraton and rake_scan pkgs

kraton:

• camera pkg probably not needed @medium

autonomy_manager, gps_user_input.py and pxrf.py

• pxrf change timings

TODO

• WAITING_FOR_CALIBRATION_TO_FINISH: Need to wait for RTK GPS to be initialized. May be change it to WAITING_FOR_GPS_INIT
• the first STANDBY state can be changed to INIT

gps_navigation

The gps_navigation package contains the source code for waypoint navigation and GUI. To launch: please run roslaunch gps_naviation navigate_no_rviz.launch

The following files in the src are used:

gps_user_location.py:

It both parses the locations.csv to extract the coordinate information. It can also take the input from the user and store the coordinate in the locations.csv file so that it can be easily accessed in the future

gps_user_input.py:

The main GUI that uses PyQT as the library that displays the regional map. It allows the user to place pins on the map, control pxrf, monitor robot status, etc

gps_navigation.py:

The main controller for waypoint navigation. It includes both LQR and PID controllers. Currently only PID controller is used. LQR controller is not well tuned.

Programming Environment

Terminal Info

• zsh is the default terminal.
• Instead of .bashrc, use .zshrc file to add aliases, source rosfiles, etc
• Run tmux after ssh to easily create new tmux session. A tmux session allows you to create remote terminals wihtout having to repeatedly ssh again.

Aliases

The following aliases use incremental search to list the packages, topics and nodes.

• rcd -> roscd
• rte -> rostopic echo
• rtinfo -> rostopic info
• rnkill -> rosnode kill

Shortcuts:

• CTRL + Space : Accept autosuggestion in the terminal
• CTRL + L : Clear terminal
• CTRL + R : Incrementally search history
• ` is the prefix key for tmux. After pressing the prefix key, press the following for:
  • | : Split current terminal horizontally
  • -- : Split current temrinal vertically
  • c : New terminal
  • x : Close current terminal
  • s : Switch session

Links

1. Hardware
   1. Flipper Rover Pro
   2. Hebi Python API
   3. Clifford Parts for RTK GPS
2. Development
   1. Remote SSH Code Server
3. PXRF
   1. PXRF repo
   2. PXRF Vanta Specs
4. GQ7 GUI
   1. RTK GPS
   2. GQ7 Module Specs
   3. Sparkfun Base Station
   4. Sparkfun Base Station Hookup Guide
   5. MIP API
   6. Calibrating Magnetometer
   7. Measuring Antenna Offsets
   8. Code
      1. GQ7 Params
      2. GQ7 Params Examples
      3. Clifford GQ7 Params
      4. RTK Base Station