bittle_ROS2

ROS2 package for Bittle Robot. There are launch files for Object detection based control, RQT robot controller GUI Control, and Generic USB video game controller control. All options have video streaming from Bittle to the desktop

Prerequisites

Before you begin, ensure you have the following installed:

• Petoi Bittle Robot
• Raspberry pi (Zero 2, 4 or 5)
• ROS2 (Tested on Humble)
• Python 3.5 or higher
• Git
• Docker (On raspberry pi)

Desktop/Laptop setup

Install ros2 humble from instructions here:: https://docs.ros.org/en/humble/Installation.html

build workspace

mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src

clone the bittle_ros2 package

git clone https://github.com/gravesreid/bittle_ros2.git

clone bittle_msgs package

git clone https://github.com/gravesreid/bittle_msgs.git

Clone joy package

git clone --branch ros2 https://github.com/ros-drivers/joystick_drivers.git

Install colcon

sudo apt install python3-colcon-common-extensions

Install diagnostic-updater

sudo apt-get install ros-humble-diagnostic-updater

make sure dependencies are updated and installed

cd ~/ros2_ws
rosdep update
rosdep install --from-paths src -r -y

build the package

cd ~/ros2_ws
colcon build

Source the environment

source install/setup.bash

Raspberry pi setup

Configure raspberry pi as detailed here in the readme: https://github.com/gravesreid/autonomous-bittle.git

install ros2 using docker taken from:

https://docs.ros.org/en/foxy/How-To-Guides/Installing-on-Raspberry-Pi.html

Steps to install:

 curl -fsSL https://get.docker.com -o get-docker.sh
 sudo sh get-docker.sh

so you don't need to use sudo

sudo usermod -aG docker $USER

newgrp docker

Check that docker works

docker run hello-world

You can download the latest docker image with the setup steps already completed here:

docker pull gravesreid/bittle_ros_humble:latest

Set up Workspace on Raspberry Pi

get docker image id

docker images

launch docker container

docker run -it --net=host --privileged [image_id]

source ros2

source /opt/ros/humble/setup.bash

source your workspace

cd ~/ros2_ws
source install/setup.bash

if you didn't pull the bittle_ros_humble docker image, this is what you need to do to set up your desktop ros2 workspace also

make ros2 workspace

mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src

clone the bittle_ros2 package

git clone https://github.com/gravesreid/bittle_ros2.git

clone bittle_msgs package

git clone https://github.com/gravesreid/bittle_msgs.git

Clone joy package

git clone --branch ros2 https://github.com/ros-drivers/joystick_drivers.git

Install colcon

sudo apt install python3-colcon-common-extensions

make sure dependencies are updated and installed

cd ~/ros2_ws
rosdep update
rosdep install --from-paths src -r -y

build the package

cd ~/ros2_ws
colcon build

Source the environment

source install/setup.bash

set up raspberry pi camera library instructions

from: https://medium.com/swlh/raspberry-pi-ros-2-camera-eef8f8b94304

1. clone packages

   cd ~/ros2_ws/src

   git clone --branch humble https://gitlab.com/boldhearts/ros2_v4l2_camera.git

   git clone --branch humble https://github.com/ros-perception/vision_opencv.git

   git clone --branch humble https://github.com/ros-perception/image_common.git

   git clone --branch humble https://github.com/ros-perception/image_transport_plugins.git

2. install dependencies

   cd ..
   rosdep install --from-paths src -r -y

3. Build packages

   colcon build --packages-up-to v4l2_camera image_transport_plugins

4. Source workspace

   source install/setup.bash

If using realsense camera: set up intel realsense D405 camera wrapper

1. install package

sudo apt install ros-humble-librealsense2*

2. source workspace

cd ~/ros2_ws
source install/setup.bash

Run Bittle controller with USB gamepad control

You may need to do some remapping of buttons. To determine your button mapping, plug your controller into your PC and run:

ros2 run joy joy_node

In another terminal:

ros2 topic echo /joy

If the mapping isn't correct, match up the dictionary and controller outputs in joystick_driver.py

Now you are ready to launch the controllers. On Bittle raspberry pi:

ros2 launch bittle_ros2 robot_joystic_launch.py

on your PC:

ros2 launch bittle_ros2 server_joystick_launch.py

Run bittle controller after you have configured both the Raspberry Pi and Desktop for ROS2

1. make sure you source your build

source ~/ros2_ws/install/setup.bash

2. make sure your domain is set

export ROS_DOMAIN_ID=1

3. launch the server node

ros2 launch bittle_ros2 bittle_teleop_server_launch.py

An rqt GUI should open up on your desktop

4. source the build on the pi

source ~/ros2_ws/install/setup.bash

5. make sure your domain is set

export ROS_DOMAIN_ID=1

6. launch the robot node

ros2 launch bittle_ros2 bittle_teleop_robot_launch.py

run usb camera node after initial setup

To list which port the camera is attached to:

v4l2-ctl --list-devices

ros2 run usb_cam usb_cam_node_exe --ros-args --params-file src/usb_cam/config/params.yaml

run raspberry pi camera node after initial setup

1. Source build

   cd ~/ros2_ws
   source install/setup.bash

2. Make sure domain is set (on pc and pi-same domain id for both)

export ROS_DOMAIN_ID=1

3. run camera node on pi

ros2 run v4l2_camera v4l2_camera_node

4. run visualization tool on desktop/pc

ros2 run rqt_image_view rqt_image_view

5. select image view in GUI that pops up. Choose /image_raw/compressed topic for low latency streaming. Make sure you have compressed image transport on your desktop:

sudo apt-get install ros-humble-compressed-image-transport