Rsewiki - User contributions [en]

Fejemis

2022-10-03T12:11:30Z

S134109: /* Onshape to robot */

Project to automate the nice fejemis brush-cleaner

== Autonomous Fejemis ==

[[File:fejemis-from-onshape.png | 600px]]

Figure: Sketch of Fejemis from OnShape. The front part in yellow and black is a commercial brush for industry floor. The manual handle has been replaced with the Fejemis drive system. The front wheel can be lowered to allow the brush to be lifted when not in use.

The drawings can be accessed here: https://cad.onshape.com/documents/c3f44096b0f5e4646ed48e3f/w/670467f68cac02b087631e3d/e/e591dbcff8879adc4528ee2b

=== Onshape to robot ===
The URDF file is made using [https://onshape-to-robot.readthedocs.io/en/latest/ Onshape-to-robot]
There are added a dummy link for ROS and it is placed in its own ROS package.
Important note: currently non-DOF relation (like two parts being fastened together) don't work on top-level assembly (therefore you can make the different parts as subassemblies, but you need an assembly joining the subassemblies using non-DOF before the assembly that places the wheels and other DOF.

== Main electronics ==

[[File:teensy-configuration.png | 600px]]

Figure: The main hardware blocks. Two Teensy processors are the interface to the hardware. The drive processor controls the drive motors, safety and battery system. The front processor controls the brush and the front wheel to lift the brush. A main PC integrates the functionality with additional sensors to allow autonomous operation.

==== Electrical ====

[[Fejemis electrical]] wiring etc.

==== Teensy firmware ====

[[Fejemis Teensy]] software is build using standard Arduino library configurations.
The interface to the main PC is organized as text-lines.

==== Battery control ====

The [[Fejemis battery control]] is a 24V system (2x3cell LiPo 5Ah) with power on-off and measurement electronics. There is on-board chargers for all batteries.

==== Brush unit ====

The [[Fejemis brush unit]] is a commercial brush that comes with its own battery (12V), charger and motor control. The unit is slightly modified to to allow measurement and control from the software.

== Main software ==

==== Software repository ====

The [[Fejemis repository]] holds the documentation and source-code.

This section holds also the tool-chain instructions.

==== Bridge or Hardware abstraction ====

The hardware is integrated with the PC in a bridge-unit that also integrate a manual (remote control) possibility.

This [[Fejemis bridge]] should also provide the needed interface to ROS (to drive and control the operation).

==== ROS overview ====

[[Fejemis ROS]]

==== Reboot and startup ====

It seems like the Intel NUC has problems detecting the WiFi at first cold boot.
This is fixed by a small script "/home/local/wifitest.sh" like:

#!/bin/bash
# test if WiFi interface is available
# if not, then reboot (after 2 minutes to allow stopping)
# save date and result to logfile
date >>/home/local/rebootinfo.txt
ifconfig wlp58s0 >>/home/local/rebootinfo.txt
# $? is the result of last call
if [ $? -eq 0 ]; then
echo "wifi device wlp58s0 is Online" >>/home/local/rebootinfo.txt
else
echo "wifi device wlp58s0 is Offline" >>/home/local/rebootinfo.txt
sleep 120
echo "time to reboot" >>/home/local/rebootinfo.txt
reboot now
fi

The script is called from /etc/rc.local like:

/home/local/wifitest.sh &

When WiFi is up, it should connect to the "device" access point to get an IP
(agreed with itservice to be) 10.199.253.209.

The Wifi is made available without any user (server mode) by modifying

/etc/NetworkManager/system-connections/device.nmconnection

The "permissions" line the [connection] section is changed to just

permissions=

== Main functionality ==

==== Mapping and localization ====

The system should be able to systematically sweep the floor and therefore need knowledge of own position.

==== Sweeping control ====

The sweeping mission should be planned based on knowledge of the area to sweep and the schedule to do so.

The Fejemis should avoid swallowing loose cables and the hanging drone-net as some of the most troublesome obstacles.

==== Situation awareness ====

The Fejemis should be aware of the users of the facility and it should postpone cleaning if the situation is not sufficiently quiet.

==== Automatic charging ====

Charging requires 230V AC, and the Fejemis should be able to dock into a power outlet autonomously.

==== Garbage dumping ====

Garbage dumping is probably not going to be autonomous, but it would be nice with a warning when the dust-bin is full.

Fejemis ROS

2022-09-23T14:45:33Z

S134109:

Back to [[fejemis]]

== ROS install ==
The version of ROS used on Fejemis is ROS noetic.

An installing guide can be found here: [http://wiki.ros.org/noetic/Installation/ ROS Noetic installation instructions]

The version installed is the ''Desktop-Full Install''.

=== Catkin tools ===

Catkin build is used in the development and therefore ''catkin_tools'' need to be installed.

On Ubuntu apt-get can be used via this guide: [https://catkin-tools.readthedocs.io/en/latest/installing.html Installing on Ubuntu with apt-get]

== Intel RealSense ==

The installation also uses Intel RealSense and can be installed via this guide.
[https://github.com/IntelRealSense/realsense-ros#method-1-the-ros-distribution Instructions]

Install both ''realsense2_camera'' and ''realsense2_description''

=== Calibration of RealSense ===

For calibration on linux install this:
[https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_linux.md#installing-the-packages Installation Instructions for <code>librealsense2-dkms</code> and <code>librealsense2-utils</code>]

== IMU and robot-localization ==

Also for the IMU and integration with RTAB-Map, we use ''robot_localization''

Use this

<code>sudo apt-get install ros-noetic-robot-localization</code>

and this

<code>sudo apt-get install ros-noetic-imu-tools</code>

== Rviz Add-on (visualization) ==

For the Rviz visualization when using Intel RealSense install this.

<code>sudo apt-get install ros-noetic-octomap-rviz-plugins</code>

== RTAB-Map ==
=== Standard install ===
<code>sudo apt install ros-noetic-rtabmap-ros</code>

=== Info about dual camera setup ===

===== Install Git version of RTAB-map =====

If you need both camera for SLAM the normal install will not work.
Install from Github like this.

<code>sudo apt remove ros-$ROS_DISTRO-rtabmap-ros</code>

<code>cd ~/catkin_ws/src</code>

<code>git clone -b $ROS_DISTRO-devel https://github.com/introlab/rtabmap_ros.git</code>

<code>cd ~/catkin_ws</code>

<code>catkin build -DRTABMAP_SYNC_MULTI_RGBD=ON</code>

===== Get the serial numbers for the cameras =====

<code>rs-enumerate-devices | grep 'Serial Number'</code>

====== More info ======
[https://answers.ros.org/question/320708/rtabmap-ros-with-two-realsense-d435-cameras/](https://answers.ros.org/question/320708/rtabmap-ros-with-two-realsense-d435-cameras/)

You need to of the same cameras, as the size of the pictures should be the same.

Another way of implementing it

[https://answers.ros.org/question/269459/rtabmap-with-two-stereo-cameras/](https://answers.ros.org/question/269459/rtabmap-with-two-stereo-cameras/)

(here we just update the obstacle layer of the cost maps with camera 2)

Fejemis

2022-09-23T14:33:26Z

S134109: /* Autonomous Fejemis */

Fejemis ROS

2022-09-23T14:30:20Z

S134109:

Back to [[fejemis]]

== ROS install ==
The version of ROS used on Fejemis is ROS noetic.

An installing guide can be found here: [http://wiki.ros.org/noetic/Installation/ ROS Noetic installation instructions]

The version installed is the ''Desktop-Full Install''.

=== Catkin tools ===

Catkin build is used in the development and therefore ''catkin_tools'' need to be installed.

On Ubuntu apt-get can be used via this guide: [https://catkin-tools.readthedocs.io/en/latest/installing.html Installing on Ubuntu with apt-get]

== Intel RealSense ==

The installation also uses Intel RealSense and can be installed via this guide.

[https://github.com/IntelRealSense/realsense-ros Installation Instructions for <code>librealsense2-dkms</code> and <code>librealsense2-utils</code>]

=== Calibration of RealSense ===

For calibration on linux install this: [https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_linux.md realsense-viewer]

== IMU and robot-localization ==

Also for the IMU and integration with RTAB-Map, we use ''robot_localization''

Use this

<code>sudo apt-get install ros-noetic-robot-localization</code>

and this

<code>sudo apt-get install ros-noetic-imu-tools</code>

== Rviz Add-on (visualization) ==

For the Rviz visualization when using Intel RealSense install this.

<code>sudo apt-get install ros-noetic-octomap-rviz-plugins</code>

== RTAB-Map ==
<code>sudo apt install ros-noetic-rtabmap-ros</code>

=== Info about dual camera setup ===

If you need both camera for SLAM the normal install will not work.
Install from Github like this.

<code>sudo apt remove ros-$ROS_DISTRO-rtabmap-ros</code>

<code>cd ~/catkin_ws/src</code>

<code>git clone -b $ROS_DISTRO-devel https://github.com/introlab/rtabmap_ros.git</code>

<code>cd ~/catkin_ws</code>

<code>catkin build -DRTABMAP_SYNC_MULTI_RGBD=ON</code>

==== Get the serial numbers for the cameras ====

<code>rs-enumerate-devices | grep 'Serial Number'</code>

==== Install Git version of RTAB-map ====

[https://answers.ros.org/question/320708/rtabmap-ros-with-two-realsense-d435-cameras/](https://answers.ros.org/question/320708/rtabmap-ros-with-two-realsense-d435-cameras/)

You need to of the same cameras, as the size of the pictures should be the same.

Another way of implementing it

[https://answers.ros.org/question/269459/rtabmap-with-two-stereo-cameras/](https://answers.ros.org/question/269459/rtabmap-with-two-stereo-cameras/)

(here we just update the obstacle layer of the cost maps with camera 2)

Fejemis ROS

2022-09-23T14:29:23Z

S134109:

== ROS install ==
The version of ROS used on Fejemis is ROS noetic.

An installing guide can be found here: [http://wiki.ros.org/noetic/Installation/ ROS Noetic installation instructions]

The version installed is the ''Desktop-Full Install''.

=== Catkin tools ===

Catkin build is used in the development and therefore ''catkin_tools'' need to be installed.

On Ubuntu apt-get can be used via this guide: [https://catkin-tools.readthedocs.io/en/latest/installing.html Installing on Ubuntu with apt-get]

== Intel RealSense ==

The installation also uses Intel RealSense and can be installed via this guide.

[https://github.com/IntelRealSense/realsense-ros Installation Instructions for <code>librealsense2-dkms</code> and <code>librealsense2-utils</code>]

=== Calibration of RealSense ===

For calibration on linux install this: [https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_linux.md realsense-viewer]

== IMU and robot-localization ==

Also for the IMU and integration with RTAB-Map, we use ''robot_localization''

Use this

<code>sudo apt-get install ros-noetic-robot-localization</code>

and this

<code>sudo apt-get install ros-noetic-imu-tools</code>

== Rviz Add-on (visualization) ==

For the Rviz visualization when using Intel RealSense install this.

<code>sudo apt-get install ros-noetic-octomap-rviz-plugins</code>

== RTAB-Map ==
<code>sudo apt install ros-noetic-rtabmap-ros</code>

=== Info about dual camera setup ===

If you need both camera for SLAM the normal install will not work.
Install from Github like this.

<code>sudo apt remove ros-$ROS_DISTRO-rtabmap-ros</code>

<code>cd ~/catkin_ws/src</code>

<code>git clone -b $ROS_DISTRO-devel https://github.com/introlab/rtabmap_ros.git</code>

<code>cd ~/catkin_ws</code>

<code>catkin build -DRTABMAP_SYNC_MULTI_RGBD=ON</code>

==== Get the serial numbers for the cameras ====

<code>rs-enumerate-devices | grep 'Serial Number'</code>

==== Install Git version of RTAB-map ====

[https://answers.ros.org/question/320708/rtabmap-ros-with-two-realsense-d435-cameras/](https://answers.ros.org/question/320708/rtabmap-ros-with-two-realsense-d435-cameras/)

You need to of the same cameras, as the size of the pictures should be the same.

Another way of implementing it

[https://answers.ros.org/question/269459/rtabmap-with-two-stereo-cameras/](https://answers.ros.org/question/269459/rtabmap-with-two-stereo-cameras/)

(here we just update the obstacle layer of the cost maps with camera 2)

Fejemis ROS

2022-09-23T14:18:54Z

S134109:

The version of ROS used on Fejemis is ROS noetic.

An installing guide can be found here: [http://wiki.ros.org/noetic/Installation/ ROS Noetic installation instructions]

The version installed is the ''Desktop-Full Install''.

Catkin build is used in the development and therefore ''catkin_tools'' need to be installed.

On Ubuntu apt-get can be used via this guide: [https://catkin-tools.readthedocs.io/en/latest/installing.html Installing on Ubuntu with apt-get]

The installation also uses Intel RealSense and can be installed via this guide.

[https://github.com/IntelRealSense/realsense-ros Installation Instructions for <code>librealsense2-dkms</code> and <code>librealsense2-utils</code>]

For calibration on linux install this: [https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_linux.md realsense-viewer]

Also for the IMU and integration with RTAB-Map, we use ''robot_localization''

Use this

<code>sudo apt-get install ros-noetic-robot-localization</code>

and this

<code>sudo apt-get install ros-noetic-imu-tools</code>

For the Rviz visualization when using Intel RealSense install this.

<code>sudo apt-get install ros-noetic-octomap-rviz-plugins</code>

For RtabMap
<code>sudo apt install ros-noetic-rtabmap-ros</code>

Fejemis ROS

2022-09-23T14:15:41Z

S134109:

The version of ROS used on Fejemis is ROS noetic.

An installing guide can be found here: [http://wiki.ros.org/noetic/Installation/ ROS Noetic installation instructions]

The version installed is the ''Desktop-Full Install''.

Catkin build is used in the development and therefore ''catkin_tools'' need to be installed.

On Ubuntu apt-get can be used via this guide: [https://catkin-tools.readthedocs.io/en/latest/installing.html Installing on Ubuntu with apt-get]

The installation also uses Intel RealSense and can be installed via this guide.

Also for the IMU and integration with RTAB-Map, we use ''robot_localization''

Use this

<code>sudo apt-get install ros-noetic-robot-localization</code>

and this

<code>sudo apt-get install ros-noetic-imu-tools</code>

For the Rviz visualization when using Intel RealSense install this.

<code>sudo apt-get install ros-noetic-octomap-rviz-plugins</code>

For RtabMap
<code>sudo apt install ros-noetic-rtabmap-ros</code>

Fejemis ROS

2022-09-23T14:15:21Z

S134109:

The version of ROS used on Fejemis is ROS noetic.

An installing guide can be found here: [http://wiki.ros.org/noetic/Installation/ ROS Noetic installation instructions]

The version installed is the Desktop-Full Install.

Catkin build is used in the development and therefore ''catkin_tools'' need to be installed.

On Ubuntu apt-get can be used via this guide: [https://catkin-tools.readthedocs.io/en/latest/installing.html Installing on Ubuntu with apt-get]

The installation also uses Intel RealSense and can be installed via this guide.

Also for the IMU and integration with RTAB-Map, we use ''robot_localization''

Use this

<code>sudo apt-get install ros-noetic-robot-localization</code>

and this

<code>sudo apt-get install ros-noetic-imu-tools</code>

For the Rviz visualization when using Intel RealSense install this.

<code>sudo apt-get install ros-noetic-octomap-rviz-plugins</code>

For RtabMap
<code>sudo apt install ros-noetic-rtabmap-ros</code>

Fejemis ROS

2022-09-23T14:09:18Z

S134109:

The version of ROS used on Fejemis is Ros noetic.

An installing guide can be found here: [http://wiki.ros.org/noetic/Installation/ ROS Noetic installation instructions]

The version installed is the Desktop-Full Install.

Catkin build is used in the deveulupment and therefore ''catkin_tools'' need to be installed.

On Ubuntu apt-get can be used via this guide: [https://catkin-tools.readthedocs.io/en/latest/installing.html Installing on Ubuntu with apt-get]

The installation also usees Intel realsense and can be installed via this guide.

Also for the IMU and integration with Rtabmap, we use ''robot_localization''

Use this

<code>sudo apt-get install ros-noetic-robot-localization</code>

and this

<code>sudo apt-get install ros-noetic-imu-tools</code>

For the Rviz visulationization when useing Realsense install this.

<code>sudo apt-get install ros-noetic-octomap-rviz-plugins</code>

For RtabMap
<code>sudo apt install ros-noetic-rtabmap-ros</code>

Fejemis ROS

2022-09-23T14:08:46Z

S134109: Created page with "The version of ROS used on Fejemis is Ros noetic. An installing guide can be found here: [http://wiki.ros.org/noetic/Installation/ ROS Noetic installation instructions] The v..."

The version of ROS used on Fejemis is Ros noetic.
An installing guide can be found here: [http://wiki.ros.org/noetic/Installation/ ROS Noetic installation instructions]

The version installed is the Desktop-Full Install.

Catkin build is used in the deveulupment and therefore ''catkin_tools'' need to be installed.
On Ubuntu apt-get can be used via this guide: [https://catkin-tools.readthedocs.io/en/latest/installing.html Installing on Ubuntu with apt-get]

The installation also usees Intel realsense and can be installed via this guide.

Also for the IMU and integration with Rtabmap, we use ''robot_localization''

Use this

<code>sudo apt-get install ros-noetic-robot-localization</code>
and this
<code>sudo apt-get install ros-noetic-imu-tools</code>

For the Rviz visulationization when useing Realsense install this.

<code>sudo apt-get install ros-noetic-octomap-rviz-plugins</code>

For RtabMap
<code>sudo apt install ros-noetic-rtabmap-ros</code>