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ROBOT_INSTALLATION.md

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Manual installation of linorobot2 package on robot computer

1. Install micro-ROS and its dependencies

1.1 Source your ROS2 distro and workspace

If it's your first time using ROS2 and haven't created your ROS2 workspace yet, you can check out ROS2 Creating a Workspace tutorial.

source /opt/ros/<your_ros_distro>/setup.bash
cd <your_ws>
colcon build
source install/setup.bash

1.2 Install LIDAR ROS2 drivers:

YDLIDAR:

cd /tmp
git clone https://github.com/YDLIDAR/YDLidar-SDK.git
cd YDLidar-SDK/build
cmake ..
make
sudo make install
cd <your_ws>
git clone https://github.com/YDLIDAR/ydlidar_ros2_driver src/ydlidar_ros2_driver
chmod 0777 src/ydlidar_ros2_driver/startup/*
sudo sh src/ydlidar_ros2_driver/startup/initenv.sh
colcon build --symlink-install
source <your_ws>/install/setup.bash

XV11:

cd <your_ws>
git clone https://github.com/mjstn/xv_11_driver src/xv_11_driver
colcon build
source <your_ws>/install/setup.bash

LD06 LD19 STL27L:

cd <your_ws>
git clone https://github.com/hippo5329/ldlidar_stl_ros2.git src/ldlidar_stl_ros2
colcon build
source <your_ws>/install/setup.bash
cd /tmp
wget https://raw.githubusercontent.com/linorobot/ldlidar/ros2/ldlidar.rules
sudo cp ldlidar.rules /etc/udev/rules.d

RPLIDAR (A1 A2 A3 C1 S1 S2 S3):

cd <your_ws>
git clone https://github.com/Slamtec/sllidar_ros2.git
colcon build
source  <your_ws>/install/setup.bash
sudo cp sllidar_ros2/scripts/rplidar.rules /etc/udev/rules.d

1.3 Install depth sensor drivers:

Intel RealSense:

sudo apt install ros-$ROS_DISTRO-realsense2-camera

Zed Camera:

cd /tmp
wget https://download.stereolabs.com/zedsdk/3.5/jp45/jetsons -O zed_sdk #use Jetson SDK
#wget https://download.stereolabs.com/zedsdk/3.5/cu111/ubuntu20 -O zed_sdk #use this for x86 machine with NVIDIA GPU
chmod +x zed_sdk
./zed_sdk -- silent
cd <your_ws>
git clone https://github.com/stereolabs/zed-ros2-wrapper src/zed-ros2-wrapper
git clone https://github.com/ros-perception/image_common -b $ROS_DISTRO src/image_common
rosdep install --from-paths src --ignore-src -r -y
colcon build --symlink-install --cmake-args=-DCMAKE_BUILD_TYPE=Release
source <your_ws>/install/setup.bash

OAK-D Camera:

sudo apt install ros-$ROS_DISTRO-depthai-ros

1.4 Download and install micro-ROS:

cd <your_ws>
git clone -b $ROS_DISTRO https://github.com/micro-ROS/micro_ros_setup src/micro_ros_setup
sudo apt install python3-vcstool build-essential
sudo apt update && rosdep update
rosdep install --from-path src --ignore-src -y
colcon build
source install/setup.bash

1.5 Setup micro-ROS agent:

ros2 run micro_ros_setup create_agent_ws.sh
ros2 run micro_ros_setup build_agent.sh
source install/setup.bash
  • You can ignore 1 package had stderr output: microxrcedds_agent after building your workspace.

2. Download linorobot2 and its dependencies:

2.1 Download linorobot2:

cd <your_ws> 
git clone -b $ROS_DISTRO https://github.com/linorobot/linorobot2 src/linorobot2

2.2 Ignore Gazebo Packages on robot computer (optional)

If you're installing this on the robot's computer or you don't need to run Gazebo at all, you can skip linorobot2_gazebo package by creating a COLCON_IGNORE file:

cd src/linorobot2/linorobot2_gazebo
touch COLCON_IGNORE

2.3 Install linorobot2 package:

cd <your_ws>
rosdep update && rosdep install --from-path src --ignore-src -y --skip-keys microxrcedds_agent
colcon build
source install/setup.bash
  • microxrcedds_agent dependency checks are skipped to prevent this issue of finding its keys. This means that you have to always add --skip-keys microxrcedds_agent whenever you have to run rosdep install on the ROS2 workspace where you installed linorobot2.

ENV Variables

1. Robot Type

Set LINOROBOT2_BASE env variable to the type of robot base that you want to use. This is not required if you're using a custom URDF. Available env variables are 2wd, 4wd, and mecanum. For example:

echo "export LINOROBOT2_BASE=2wd" >> ~/.bashrc

2. Sensors

2.1 Depth Sensor (Optional)

The Nav2 config file has been configured to support Voxel Layer for marking 3D obstacles in the Local Costmap using a depth sensor. To enable one of the tested depth sensor's launch files in bringup.launch.py, export the depth sensor you're using to LINOROBOT2_DEPTH_SENSOR env variable.

Tested sensors are:

For example:

echo "export LINOROBOT2_DEPTH_SENSOR=realsense" >> ~/.bashrc

2.2 Laser Sensor (Optional)

The launch files of the tested laser sensors have already been added in bringup.launch.py. You can enable one of these sensors by exporting the laser sensor you're using to LINOROBOT2_LASER_SENSOR env variable.

Tested Laser Sensors:

For example:

echo "export LINOROBOT2_LASER_SENSOR=rplidar" >> ~/.bashrc

If you export a depth sensor to LINOROBOT2_LASER_SENSOR, the launch file will run depthimage_to_laserscan to convert the depth sensor's depth image to laser.

3. Save changes

Source your ~/.bashrc to apply the changes you made:

source ~/.bashrc

Miscellaneous

1. Creating Jetson Nano Image

  • Create the custom image on your host machine by following this tutorial. Prepare an SD card and use the helper scripts found in the repository mentioned in the tutorial to build and flash the custom image to the SD card.

  • Before going through the tutorial, you can change the user name and password by modifying this file.

  • If you encounter this problem: Extend the fs... e2fsck: No such file or directory while trying to open /dev/sdcp1 after flashing the image, you can check out this issue to resolve the problem.

  • On your jetson nano, install the Nvidia Libraries:

    sudo apt install -y cuda-toolkit-10-2 libcudnn8 libcudnn8-dev

2. Running a launch file during boot-up.

This is a short tutorial on how to make your bringup launch files run during startup.

2.1 Create your env.sh

sudo touch /etc/ros/env.sh
sudo nano /etc/ros/env.sh

and paste the following:

#!/bin/sh

export LINOROBOT2_BASE=<your_robot_type>
export LINOROBOT2_LASER_SENSOR=<your_supported_sensor> #(optional)

2.2 Create systemd service

sudo touch /etc/systemd/system/robot-boot.service
sudo nano  /etc/systemd/system/robot-boot.service

and paste the following:

[Unit]
After=NetworkManager.service time-sync.target

[Service]
Type=simple
User=<user>
ExecStart=/bin/sh -c ". /opt/ros/<your_ros_distro>/setup.sh;. /etc/ros/env.sh;. /home/<user>/<your_ws>/install/setup.sh; ros2 launch linorobot2_bringup bringup.launch.py joy:=true"

[Install]
WantedBy=multi-user.target

Remember to replace:

  • user with your machine's user name (echo $USER)
  • your_ros_distro with the ros2 distro (echo $ROS_DISTRO) your machine is running on
  • your_ws with the location of the ros2 ws where you installed linorobot2

2.3 Enable the service

sudo systemctl enable robot-boot.service

You can check if the service you just created is correct by:

sudo systemctl start robot-boot.service
sudo systemctl status robot-boot.service
  • You should see the ros2 logs that you usually see when running bringup.launch.py. Once successful, you can now reboot your machine. bringup.launch.py should start running once the machine finished booting up.

2.4 Removing the service

systemctl stop robot-boot.service
systemctl disable robot-boot.service
sudo rm /etc/systemd/system/robot-boot.service

Source: https://blog.roverrobotics.com/how-to-run-ros-on-startup-bootup/