Watson UVC Robot - Autonomous Robotic Platform for Disinfection (Covid19)

W-UVC Robot is an autonomous robotic platform developed by PUC Campinas for classroom disinfection environments. W-UVC Robot is a differential drive mobile platform to perform different tasks in an indoor environments. W-UVC Robot is based on Robot Operating System (ROS) - see more in ROS Wiki, Arduino Mega and Raspberry Pi 4.

ROS Buildfarm Development Branches

WUVC Package	Kinetic Devel	Melodic Devel
drwatson_ros

Install dependencies and follow the installation instructions.

• ROS Kinetic-devel: ROS.
• ROS Joystick Drivers Stack: Joystick Driver.
• Rosserial: Package for Arduino - Real Robot.
• Sick Scan: Sick Scan Repository.

Install Lidar Sick TiM 571

The laser is configured with a static IP: 192.168.0.1. Its not recommended to use the same IP. Then, you need to configure a new IP using SOPAS Engineering Tool. Follow the instructions below to configure as correct way:

• Download SOPAS with Windows 7 or superior;

  • After installation, connect the Sick 571 LiDAR as recommended in the manufacturer manual. Plug the Ethernet cable on the PC and voltage supply (9-28VDC).

• Now, open the SOPAS software and find a new devices. Probably you'll find LiDAR TiM 571. Select "change IP" and you can modify to any IP adress as desired.

  • Click in the 3 vertical points and select "connect"

🐧 Linux Machine Configuring.

• After configuration of the LiDAR, open a terminal and make this:

cd ~/wuvc_ws/src/ 

git clone https://github.com/SICKAG/sick_scan.git

cd ~/wuvc_ws/

catkin_make

source devel/setup.bash

• Modify the sick_tim_5xx.launch file and set the arg name="hostname" default="put here the IP configured in you sick laser provided by SOPAS".

In order to test the Sick LiDAR try this:

roslaunch wuvc_sensors sick_tim571.launch

If the launch file is not working, you'll need to configure manually via DHCP. Open a network box and click in "edit connections". Select Ethernet connection and edit it. Select IPV4 settings and complete the address, netmask and gateway.

• Address: 192.168.1.1
• Netmask: 255.255.255.0
• Gateway: 0.0.0.0

Done! Try to run the launch file again.

Encoder Connections

The encoder model which we are using is Encoder model. We define this encoder as interrupt input (20, 21).

Motor controller - VNH5019 pololu

The motor controller used in this project is the Pololu Dual VNH5019. It is necessary to install the libraries for Arduino board. You can make the download in the Pololu Github. In order to unzip the library you need to find the skecthbook folder, probably in $ /home/user/sketchbook/libraries. Now, restart or open the Arduino IDE to test the example code provided by Demo.ino.

The robot model is based on Arlo Platform with Differential drive. (TODO)

If you need to add more sensors in your Robot, follow this great tutorial provided by: Gazebo Sensors. Please, do not forget to add the .dae or .stl extension of the sensors.

Steps to clone this repository

Create a simple ROS Workspace - if you don't have yet. Following the installation instructions to install in your Notebook.

mkdir -p ~/wuvc_ws/src && cd ~/wuvc_ws

catkin init

cd ~/wuvc_ws/src/ 

git clone https://github.com/cesarhcq/drwatson.git

git clone git@github.com:ros-drivers/joystick_drivers.git

cd ~/wuvc_ws/

catkin_make

Start a simple simulation of the WUVC mobile Robot.

cd ~/wuvc_ws/

source devel/setup.bash

1. The first lauch is possible to verify a simple world without any obstacles, and the second world is possible to verify a modified world with objectacles

roslaunch robot_gazebo first.launch

roslaunch robot_gazebo second.launch

2. Teleoperating the robot GuntherBot

Onpen another terminal

roslaunch robot_description robot_description.launch

Or close all terminals and open just one terminal to run everything with this command

roslaunch robot_description teleop-guntherbot.launch

3. Add more objects for Test

If you intend to add more objects in the world, you'll need to save as new world file and modify the XML launch file.

The robot_gazebo package is responsible for setting and choosing the world and the robot to be simulated. Contains the main simulation parameters.

The robot_description package contains the robot assembly configuration files. Within the meshs and urdf folders it is possible to configure and create the robot model and its main components such as the camera.

vim ~/wuvc_ws/src/drwatson/robot_description/launch/teleop-guntherbot.launch

subl ~/wuvc_ws/src/drwatson/robot_description/launch/teleop-guntherbot.launch

<?xml version="1.0"?>
<launch>
   <!-- Initial parameters for position in gazebo world -->
  <arg name ="x" default="0"/>
  <arg name ="y" default="0"/>
  <arg name ="z" default="0.5"/>

  <arg name="world" default="empty"/> 
  <arg name="paused" default="false"/>
  <arg name="use_sim_time" default="true"/>
  <arg name="gui" default="true"/>
  <arg name="headless" default="false"/>
  <arg name="debug" default="false"/>
  
  <include file="$(find gazebo_ros)/launch/empty_world.launch">
    <!-- Argument to change the world in Gazebo 'test2.world' -->
    <arg name="world_name" value="$(find robot_gazebo)/worlds/test2.world"/>
    <arg name="paused" value="$(arg paused)"/>
    <arg name="use_sim_time" value="$(arg use_sim_time)"/>
    <arg name="gui" value="$(arg gui)"/>
    <arg name="headless" value="$(arg headless)"/>
    <arg name="debug" value="$(arg debug)"/>
  </include>

  <!-- Argument to change the description of robot 'robot.xacro' -->
  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find robot_description)/urdf/robot.xacro'"/>

  <node name="robot_spawn" pkg="gazebo_ros" type="spawn_model" output="screen"
   args="-urdf -param robot_description -model robot -x $(arg x) -y $(arg y) -z $(arg z)" />

  <!-- send fake joint values -->
  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
    <param name="use_gui" value="False"/>
  </node>

  <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher"/>

  <!-- Show in Rviz   -->
  <!--   <node name="rviz" pkg="rviz" type="rviz"/> -->
  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find robot_description)/rviz/robot_navigation.rviz"/>

  <!-- GuntherTeleop -->
  <node name="GuntherTeleop" pkg="robot_description" type="gunther_teleop.py" output="screen" launch-prefix="xterm -e"/>

</launch>

Real GuntherBOT - Integration Raspberry Pi 3, Arduino and ROS

After simulation, you need to do the experiments in real world. It is very important to create a environment with objects and obstacles.

Communication between Arduino and Raspberry Pi 3

Dependencies

• Rosserial: Package for Arduino - Real Robot.

Plug the Arduino USB cable in the Raspberry Pi 3. Now, open the Arduino IDE to verify what's the USB port connected. If you are not installed Arduino IDE in the Raspberry Pi 3, you can follow this instructions.

sudo apt-get update

sudo apt-get install arduino arduino-core

Now, install the ROSSERIAL

sudo apt-get install ros-kinetic-rosserial-arduino

sudo apt-get install ros-kinetic-rosserial

After IDE Arduino installed, you'll need to install the ros_lib library

The link between ROS and Arduino is through the ros_lib library. This library will be used as any other Arduino library. To install the ros_lib library, type the following commands in the Ubuntu terminal:

Test Arduino

First you must release permission from arduino ports. At the end of setup, restart the computer.

sudo usermod -a -G dialout $USER

1. Open Arduino in terminal

arduino

2. Test libraries of Arduino

cd <sketchbook>/libraries

rosrun rosserial_arduino make_libraries.py .

3. Test node of Arduino in ROS manually

roscore

Open another terminal, and run the command:

rosrun rosserial_python serial_node.py _port:=/dev/ttyACM0 _baud:=57600

rosrun teleop_twist_keyboard teleop_twist_keyboard.py

If you want to see the behavior of the low level pid control, use the tool rqt_multiplot and upload the file ~/guntherBot_ws/src/GuntherBot/rqt_multiplot.xml.

rosrun rosrun rqt_multiplot rqt_multiplot

rosrun base_controller base_controller

4. Run robot teleoperation automatically

roslaunch arduino_controller teleop.launch

5. Test robot with Arduino and Encoder automatically

roslaunch arduino_controller test_encoder.launch

6. Rviz visualization

rosrun rviz rviz -d ~/guntherBot_ws/src/GuntherBot/arduino_controller/rviz/rviz_test_arduino.rviz

Close the Arduino IDE and open again. Go to sketchbook in the Arduino IDE, and you will see the ROS_LIB

Verify the serial_port connected. In our case is:

/dev/ttyACM0

MPU9250 - electric schematic

1. Implement ROS driver for several 9-DOF IMUs

mkdir -p ~/catkin_ws/src && cd ~/catkin_ws

catkin init

cd ~/catkin_ws/src/ 

git clone git@github.com:cesarhcq/i2c_imu.git

cd ~/catkin_ws/

catkin_make

Publishes sensor_msgs::IMU messages at 10Hz to /imu/data topic.

Specifically populates angular_velocity & linear_acceleration

2. Include in file of your roslaunch:

<!-- Gyro from MPU9250 -->
<include file="$(find i2c_imu)/launch/i2c_imu_auto.launch"/>

3. Test control system along with wheel and gyro odometry

roslaunch roslaunch base_controller controller_base.launch

rosrun rviz rviz -d ~/guntherBot_ws/src/GuntherBot/arduino_controller/rviz/rviz_arduino_encoder_gyro.rviz

How to run camera ros package

First, you must connect a usb camera to raspberry. Verification of the usb ports is indicated to identify the possible camera.

ls /dev/video*

roslaunch base_controller camera_robot.launch

rosrun rviz rviz -d ~/guntherBot_ws/src/GuntherBot/base_controller/rviz/rviz_camera.rviz

How to run Joystick Xbox Controller

Install the following dependencies:

• libbluetooth-dev package
• cwiid package

sudo apt-get install libbluetooth-dev

sudo apt-get install libcwiid-dev

Now, it will need to download the following repositories listed below. For more information, see the details in the ROS-Wiki.

1. teleop_twist_joy

cd ~/guntherBot_ws/src/

git clone git@github.com:ros-teleop/teleop_twist_joy.git

cd ~/guntherBot_ws/catkin_make

2. joystick-drivers

cd ~/guntherBot_ws/src/

git clone git@github.com:ros-drivers/joystick_drivers.git

cd ~/guntherBot_ws/catkin_make

WiFi connection between Robot and PC

The GuntherBot has a WiFi access point ssid: ubiquityrobot.

Assuming that:

• Gunther (IP: 10.42.0.1)

• PC (IP: 10.42.0.98)

1. In the PC or Laptop, open a terminal and type the following command:

ssh -X ubuntu@10.42.0.1

password:ubuntu

2. In the same terminal of the SSH, type:

export ROS_MASTER_URI=http://10.42.0.1:11311

export ROS_IP=10.42.0.1

Now, you can execute the launch file with roscore information

3. Open a new terminal again in the PC or Laptop and type:

Does not need to use ssh again!

export ROS_MASTER_URI=http://10.42.0.1:11311

export ROS_IP=10.42.0.98

rosrun rviz rviz