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| [[File:scorpi_in_profile.png | 600px]] | | Scorpi has its name as it looks a bit like a scorpion and is controlled by Raspberry Pi. |
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| | [[File:scorpi_in_profile.png | 600px | On-shape view of the Scorpi design. | On-shape view of the Scorpi design.]] |
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| ==Overview== | | ==Overview== |
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| [[Motor drive]] firmware | | [[Scorpi modules | Scorpi hardware interface modules]] |
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| | [[Motor drive]] firmware. |
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| [[Motor drive PCB]] with modifications | | [[Motor drive PCB]]. |
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| [[Teensy interface]] and MQTT interface
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| ==Development nodes== | | ==Development nodes== |
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| === Raspberry pi ===
| | [[Scorpi Pi installation| Raspberry Pi 5 installation]] for Scorpi. |
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| Raspberry pi 5 installation
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| * enable serial IO hardware (GPIO pin 14,15) - but it doesn't seem to work on pi-5, can't read or write.
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| Install packages:
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| libreadline-dev
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| libopencv-dev
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| libgpiod-dev
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| gpiod
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| cmake
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| subversion
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| aptitude
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| ntp
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| ntpdate
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| nmap
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| lsof
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| swig
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| dhcpcd
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| sudo apt install libreadline-dev libopencv-dev libgpiod-dev gpiod cmake subversion aptitude nmap lsof swig dhcp
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| === YDLidar (S4B) ===
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| YDlidar serial connected like this:
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| YDLIDAR cable color Raspberry
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| 1 Vcc (5V) black 4 (5V)
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| 2 Tx red 10 (GPIO 15) (RxD)
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| 3 Rx white 8 (GPIO 14)(TxD)
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| 4 Gnd Yellow 6 (Ground)
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| 5 M_SCP Orange 18 (GPIO 24)
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| 6 Dev_enable Green 16 (GPIO 23)
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| 7 M_enable Blue 12 (GPIO 18)
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| 8 NC Purple 14 (ground, to use all pins)
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| Software YDLidar-SDK
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| From Git repository
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| $ mkdir -p git
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| $ cd git
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| $ git clone https://github.com/YDLIDAR/YDLidar-SDK.git
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| $ cd YDLidar-SDK
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| $ mkdir build
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| $ cd build
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| $ cmake ..
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| $ make -j4
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| ==Ros2 Iron==
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| Installation on Raspberry Pi 5 running
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| default 64-bit OS: Debian GNU/Linux 12 (bookworm)
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| === Base===
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| Add en_DK.UTF-8 in this list
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| $ sudo dpkg-reconfigure locales
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| Then run
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| $ sudo update-locale LC_ALL=en_DK.UTF-8 LANG=en_DK.UTF-8
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| $ export LANG=en_DK.UTF-8
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| Compiled packages are not supported for Raspberry 64-bit OS, so install from source,
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| Followed:
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| https://docs.ros.org/en/iron/Installation/Alternatives/Ubuntu-Development-Setup.html
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| The result goes into ~/ros2_iron
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| Note that ''rosdep'' fails in most cases, as the platform is not that much supported.
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| Manual dependency updates are therefore used in most cases.
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| Note, this command takes maybe 3 hours to compile all (on Raspberry Pi 5 - (8G memory):
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| cd ~/ros2_iron/
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| colcon build --symlink-install
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| Add this line to ~/.bashrc
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| source /home/local/ros2_iron/install/setup.bash
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| The examples should now work (in separate terminals)
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| ros2 run demo_nodes_cpp talker
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| ros2 run demo_nodes_py listener
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| === ROS2 domain ===
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| Ros2 domain over local network
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| $export | grep ROS_
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| could show
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| declare -x ROS_AUTOMATIC_DISCOVERY_RANGE="SUBNET"
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| declare -x ROS_DISTRO="iron"
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| declare -x ROS_DOMAIN_ID="8"
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| declare -x ROS_LOCALHOST_ONLY="0"
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| declare -x ROS_PYTHON_VERSION="3"
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| declare -x ROS_VERSION="2"
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| In this case, ROS cooperates with others on the local network who also have ROS_DOMAIN_ID="8."
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| If used, insert these into ~/.bashrc
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| export ROS_DOMAIN_ID=8
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| export ROS_LOCALHOST_ONLY="0"
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| ROS_DOMAIN=0 is the default.
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| ==YDLidar driver==
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| Make a new ROS2 workspace for this application, here called ''scorpi_ws''
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| mkdir -p ~/scorpi/src
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| cd scorpi_ws/src
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| Get the modified YDLidar driver (modified for ''iron'')
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| ls
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| ydlidar_ros2
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| Modify scorpi_ws/src/ydlidar/params/ydlidar.yaml to the type of YDlidar you use,
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| For YDlidar X4 it could look like
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| ydlidar_node:
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| ros__parameters:
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| port: /dev/ttyUSB0
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| frame_id: laser_frame
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| ignore_array: ""
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| baudrate: 128000
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| samp_rate: 9
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| resolution_fixed: true
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| singleChannel: false
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| auto_reconnect: true
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| reversion: true
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| isToFLidar: false
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| angle_max: 180.0
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| angle_min: -180.0
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| max_range: 16.0
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| min_range: 0.1
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| frequency: 10.0
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| Now build the driver
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| cd ..
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| colcon build
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| You should get a few warnings only.
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| With the YDLidar X4 connected test with the driver nodes.
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| cd ~/scorpi_ws
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| ros2 run ydlidar ydlidar_node
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| And get something like:
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| [YDLIDAR INFO] Current ROS Driver Version: 1.4.5
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| [YDLIDAR INFO] port: /dev/ttyUSB0
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| [YDLIDAR INFO] baudrate: 128000
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| [YDLIDAR]:SDK Version: 1.4.5
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| [YDLIDAR]:Lidar running correctly ! The health status: good
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| [YDLIDAR] Connection established in [/dev/ttyUSB0][128000]:
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| Firmware version: 1.4
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| Hardware version: 1
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| Model: X4
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| Serial: 2018060400000037
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| [YDLIDAR INFO] Current Sampling Rate : 5K
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| [YDLIDAR INFO] Now YDLIDAR is scanning ......
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| The node should publish /scan, e.g.:
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| ros2 topic list
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| /parameter_events
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| /rosout
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| /scan
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| == SLAM toolbox ==
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| Fetch the SLAM toolbox from https://github.com/SteveMacenski/slam_toolbox.git
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| cd ~/scorpi_ws/src
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| git clone https://github.com/SteveMacenski/slam_toolbox.git
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| This can not be build right away, as some dependencies are missing
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| sudo apt install libsuitesparse-dev
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| sudo apt install libeigen3-dev
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| sudo apt install libceres-dev
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| sudo apt install libbondcpp-dev
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| cd ~/scorpi_ws
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| colcon build
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| Compile failed with:
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| In file included from /home/local/scorpi_ws/src/slam_toolbox/src/slam_toolbox_common.cpp:23:
| | [[MQTT and Mosquitto]]. |
| /home/local/scorpi_ws/src/slam_toolbox/include/slam_toolbox/slam_toolbox_common.hpp:34:10: fatal error: bondcpp/bond.hpp:
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| No such file or directory
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| 34 | #include "bondcpp/bond.hpp"
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| It seems like bond.hpp is not included in the version of libbondcpp-dev.
| | [[Teensy interface]] installation. |
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| Bond is used by the lifecycle manager - that can be disabled. So, assuming it will run without, I removed all references to bond in
| | [[YD-Lidar details]]. |
| include/slam_toolbox/slam_toolbox_common.hpp
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| src/slam_toolbox_common.cpp
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| Two include files, one pointer in the hpp file, two functions and two calls to these functions in the cpp file.
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| Then the package compiled OK.
| | [[Scorpi Ros Iron]]. |
