Multi-Go

Overview

Multi-Go autonomous robot for wheelchair and cart mobility.

Keywords: ArUco, Navigation stack, docking

Prerequisites

• Ubuntu 22.04
• ROS2 Humble
• Gazebo - follow the installation steps mentioned below
• NAV2 - follow the installation steps mentioned below
• OpenCV with contrib

Run:

echo 'source /opt/ros/humble/setup.bash' >> ~/.bashrc
sudo apt update

sudo apt upgrade

Reload or open a new terminal.

Installing Gazebo

sudo apt install ros-humble-gazebo-* ros-humble-gazebo-ros-pkgs ros-humble-gazebo-ros

Installing NAV2

sudo apt install ros-humble-navigation2 ros-humble-nav2-bringup ros-$ROS_DISTRO-turtlebot3*

sudo apt install ros-humble-cartographer sudo apt install ros-humble-cartographer-ros

Install TurtleBot3 Packages

Note: These commands are no longer needed as the previous command is a one line install command.

mkdir -p ~/turtlebot3_ws/src
cd ~/turtlebot3_ws/src/
git clone -b humble https://github.com/ROBOTIS-GIT/DynamixelSDK.git
git clone -b humble https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git
git clone -b humble https://github.com/ROBOTIS-GIT/turtlebot3.git
git clone -b humble https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git
sudo apt-get install ros-humble-turtlebot3-gazebo
cd ~/turtlebot3_ws
colcon build --symlink-install
echo 'source ~/turtlebot3_ws/install/setup.bash' >> ~/.bashrc
source ~/.bashrc

sudo apt install python3-colcon-common-extensions ##TO CHECK

Configure Environment for TurtleBot3

echo 'export ROS_DOMAIN_ID=30 #TURTLEBOT3' >> ~/.bashrc
echo 'source /usr/share/gazebo/setup.sh' >> ~/.bashrc
source ~/.bashrc

Optional - Testing NAV2 and Gazebo Installation

export TURTLEBOT3_MODEL=waffle
ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py
ros2 run turtlebot3_gazebo turtlebot3_drive
ros2 launch turtlebot3_bringup rviz2.launch.py

If all of the prerequisites have been installed properly, Gazebo and RVIZ would open and the turtlebot would drive autonomously in both.

Installation of MultiGo

Open a new terminal window and run these commands:

sudo apt update
sudo apt install python3-pip
pip3 install pyyaml
pip install pyserial
sudo apt install python3-serial ros-humble-pointcloud-to-laserscan ros-humble-laser-filters
sudo apt-get install ros-humble-pcl-ros
sudo apt update

sudo apt install ros-$ROS_DISTRO-rtabmap-ros sudo apt install ros-humble-rtabmap-slam

Cloning Packages

Open a new terminal window and run these commands:

git config --global submodule.recurse true
git clone --recurse-submodules -b feature/localization [email protected]:Futu-reADS/multigo_navigation.git
cd multigo_navigation
vcs import src < multigo.repos --recursive
vcs pull src

Install

cd multigo_navigation
rosdep update
rosdep install --from-paths src --ignore-src -r -y
colcon build --symlink-install --cmake-args -DCMAKE_POLICY_VERSION_MINIMUM=3.5

Close all terminals and reopen them for the following:

Run

Run following commands:

cd multigo_navigation
source install/setup.bash 

Simulation:

ros2 launch boot simulation.launch.py 

ros2 launch boot run.launch.py 

Robot:

ros2 launch boot boot.launch.py 

ros2 launch boot run.launch.py 

Remote Login Example

ssh -X USER @ IP_Address
source install/setup.bash
ros2 launch boot rviz_launch.py

Uninstall

ros2 launch boot simulation.launch.py 
sudo apt-get remove ros-humble-turtlebot3-gazebo ros-humble-pcl-ros
sudo apt remove ros-humble-grid-map ros-humble-pcl-conversions ros-humble-pcl-msgs python3-pip python3-serial ros-$ROS_DISTRO-rtabmap-ros ros-humble-rtabmap-slam ros-humble-pointcloud-to-laserscan ros-humble-laser-filters 
sudo apt remove ros-humble-gazebo-* ros-humble-gazebo-ros-pkgs ros-humble-gazebo-ros ros-humble-cartographer ros-humble-cartographer-ros ros-humble-navigation2 ros-humble-nav2-bringup
sudo apt autoremove

Delete folder "turtlebot3_ws" in Home directory