Ricbot hardware: Difference between revisions

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See more details here [[Regbot firmware]].
See more details here [[Regbot firmware]].
=== Intel Librealsense ===
Installing support for Intel librealsense.
sudo apt install libssl-dev
sudo apt-get install freeglut3-dev
sudo apt-get install xorg-dev
cd git
git clone https://github.com/IntelRealSense/librealsense.git
cd librealsense
mkdir build
cd build
cmake ..
I also needed to install libusb-1.0-0-dev
sudo apt install libusb-1.0-0-dev
This path was not included in the CMakeLists.txt, so I added this line at the beginning of the CMakeLists.txt:
cd librealsense
nano CMakeLists.txt
add
include_directories( /usr/include/libusb-1.0/ )
like here:
cmake_minimum_required(VERSION 3.10)
set( LRS_TARGET realsense2 )
project( ${LRS_TARGET} LANGUAGES CXX C )
# Allow librealsense2 and all of the nested project to include the main repo folder
set(REPO_ROOT ${CMAKE_CURRENT_SOURCE_DIR})
include_directories(${REPO_ROOT})
'''include_directories( /usr/include/libusb-1.0/ )'''
include(CMake/lrs_options.cmake)
include(CMake/connectivity_check.cmake)
...
== ROS2 ==
From https://docs.ros.org/en/jazzy/Installation/Ubuntu-Install-Debs.html
Install
export ROS_APT_SOURCE_VERSION=$(curl -s https://api.github.com/repos/ros-infrastructure/ros-apt-source/releases/latest | grep -F "tag_name" | awk -F\" '{print $4}')
curl -L -o /tmp/ros2-apt-source.deb "https://github.com/ros-infrastructure/ros-apt-source/releases/download/${ROS_APT_SOURCE_VERSION}/ros2-apt-source_${ROS_APT_SOURCE_VERSION}.$(. /etc/os-release && echo ${UBUNTU_CODENAME:-${VERSION_CODENAME}})_all.deb"
sudo dpkg -i /tmp/ros2-apt-source.deb
sudo apt update && sudo apt install ros-dev-tools
Install full ROS2 Jazzy
sudo apt install ros-jazzy-desktop
Start in this ROS2 environment, now and in new terminals:
source /opt/ros/jazzy/setup.bash
echo "source /opt/ros/jazzy/setup.bash" >> ~/.bashrc
export ROS_DOMAIN_ID=0
echo "export ROS_DOMAIN_ID=0" >> ~/.bashrc
Install ROS QT GUI stuff
sudo apt install '~nros-jazzy-rqt*'
=== Create workspace ===
From https://docs.ros.org/en/jazzy/Tutorials/Beginner-Client-Libraries/Colcon-Tutorial.html
Install colcon
sudo apt install python3-colcon-common-extensions
Create workspace directory
mkdir -p ~/ros2_ws/src
cd ~/ros2_ws
From within this directory clone (any) standard package
e.g. tutorial examples
git clone https://github.com/ros2/examples src/examples -b jazzy
Build the examples; this is memory and CPU-hungry, so the option ''--executor sequential'' may come in handy, especially on a Raspberry Pi, but it will take significantly longer.
colcon build --symlink-install --executor sequential
Allow use of colcon_cd
echo "source /usr/share/colcon_cd/function/colcon_cd.sh" >> ~/.bashrc
echo "export _colcon_cd_root=/opt/ros/jazzy/" >> ~/.bashrc
To use the ''mixin'' shortcut for some colcon options, add:
colcon mixin add default https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
colcon mixin update default
=== MQTT client ===
The un-modified ''mqtt_client'' package can act as a bridge between the ''teensy_interface'' and the ROS domain.
From MQTT to ROS, the translation is using the primitive ROS type ''string'' for the parameters of the ''teensy_interface'' messages.
The MQTT topic name is translated to ROS topic names as specified in the parameter file below.
From ROS to Teensy, the message should be published on a topic that matches the desired destination.
Topics for command messages to the ''teensy_interface'':
* MQTT topic ricbot/cmd/T0 for the Teensy, the message is the string to send to the Teensy.
* MQTT topic ricbot/cmd/shutdown to schedule a shutdown of the RICBOT (power off), something like 20 seconds after the message.
* MQTT topic ricbot/cmd/ti for messages to the teensy_interface, the message is a string.
==== Install ====
The robot's interface is via MQTT. Install the MQTT ROS client
sudo apt install ros-jazzy-mqtt-client
Or directly as source
cd src
git clone https://github.com/ika-rwth-aachen/mqtt_client
Compile:
cd ~/ros2_ws
colcon build
==== Run MQTT_client ====
To start the ''mqtt_client'':
cd ros2_ws/src/mqtt_client/mqtt_client/config
ros2 launch mqtt_client standalone.launch.xml params_file:="params.teensy.yaml"
The parameter file should be extended with more ''mqtt2ros'' topics as needed.
This will launch the un-modified ''mqtt_client'' node with specific bridge parameters as specified in ''params.teensy.yaml'':
/**/*:
  ros__parameters:
    broker:
      host: localhost
      port: 1883
      tls:
        enabled: false
    client:
      id: ros
      clean_session: true
      keep_alive_interval: 20.0
    bridge:
      ros2mqtt:
        ros_topics:
          - /teensy/cmd/T0
          - /teensy/cmd/shutdown
          - /teensy/cmd/ti
        /teensy/cmd/T0:
          mqtt_topic: ricbot/cmd/T0
          primitive: true
          inject_timestamp: false
        /teensy/cmd/shutdown:
          mqtt_topic: ricbot/cmd/shutdown
          primitive: true
          inject_timestamp: false
        /teensy/cmd/ti:
          mqtt_topic: ricbot/cmd/ti
          primitive: true
          inject_timestamp: false
      mqtt2ros:
        # Needs to be expanded to relevant topics
        mqtt_topics:
          - ricbot/data/T0/info
          - ricbot/data/T0/hbt
        ricbot/data/T0/info:
          ros_topic: /teensy/T0/info
          primitive: true
        ricbot/data/T0/hbt:
          ros_topic: /teensy/T0/hbt
          primitive: true
=== Test interface ===
Start the ''teensy_interface'' with the right ini-file:
cd ~/svn/robobot/teensy_interface/build
./teensy_interface -z ricbot.ini
This should respond with something like:
$ ./teensy_interface -z ricbot.ini
# UService:: created directory log_20260118_083120.745/
# UMqtt:: connection to MQTT broker on tcp://localhost:1883 established
# UMqttIn:: connection to MQTT broker on tcp://localhost:1883 established
# STeensy:: opening to USB /dev/ttyACM0
# SRobot:: (t0) found IP 0: eno1 192.168.2.157
# STeensy:: just connected
# UService:: setup of Teensy 0 modules finished OK.
# Type quit to stop, or 'h' for help
Start the ''mqtt_client'' in ROS
cd ~/svn/ricbot/ros_config
ros2 launch mqtt_client standalone.launch.xml params_file:="params.teensy.yaml"
==== From MQTT to ROS ====
There should now be ''hbt'' (heartbeat) message on the ROS side:
ros2 topic echo /teensy/T0/hbt
This should give something like:
data: '1768722645.7425 1738.4885 93 1748 4.85 0 9 18.1 0 0
  '
---
data: '1768722646.2426 1738.9885 93 1748 4.85 0 9 18.0 0 0
  '
---
data: '1768722646.7431 1739.4885 93 1748 4.85 0 9 18.0 0 0
  '
---
The data is: timestamp (host), timestamp Teensy, Teensy ID, version, battery voltage, ... (the rest depend on the platform).
==== From ROS to MQTT ====
e.g. make the robot drive with velocity 0.25m/s and turn 0.1 rad/s CCV, followed by stop:
ros2 topic pub /ricbot/cmd/ti std_msgs/String 'data: rc 0.25 0.1'
ros2 topic pub /ricbot/cmd/ti std_msgs/String 'data: rc 0 0'
Or send a request to publish gyro data every 12ms:
ros2 topic pub /ricbot/cmd/T0 std_msgs/String 'data: sub gyro 12'
== (RIC_pkg) HW sensor translate package ==
Create the package in the workspace.
cd ~/ros2_ws/src
ros2 pkg create --build-type ament_cmake --license MIT --node-name ric_node ric_pkg
Add dependencies to other packages to CMakeLists.txt.
Add to the list of ''find_package''
find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)
find_package(nav_msgs REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)
Make target dependencies available in the include path (and elsewhere as needed).
Add this after the ''add_executable''
ament_target_dependencies(talker rclcpp std_msgs nav_msgs sensor_msgs geometry_msgs)
To the package description ''package.xml'' add dependencies:
Add just after the ''buildtool_depend'' section:
<depend>rclcpp</depend>
<depend>std_msgs</depend>
<depend>nav_msgs</depend>
<depend>sensor_msgs</depend>
<depend>geometry_msgs</depend>
=== RIC_node code ===
The code in ''ris_node.cpp'' is pt this (not functional yet):
#include <cstdio>
#include <chrono>
#include <memory>
#include <string>
#include "rclcpp/rclcpp.hpp"
#include "std_msgs/msg/string.hpp"
#include "std_msgs/msg/int32.hpp"
#include <nav_msgs/msg/odometry.hpp>
#include "geometry_msgs/msg/twist.hpp"
class RIC_translator : public rclcpp::Node
{
public:
  RIC_translator()
  : Node("minimal_publisher"), count(0)
  {
    publisher_ = this->create_publisher<std_msgs::msg::String>("/ric/hbt", 10);
    //
    // Heartbeat
    auto topic_callback =
    [this](std_msgs::msg::String::UniquePtr msg) -> void {
      // RCLCPP_INFO(this->get_logger(), "I heard: hbt '%s'", msg->data.c_str());
      // strncpy(hbtParams, msg->data.c_str(), 100);
      printHbt(msg->data.c_str());
    };
    subsHbt =
    this->create_subscription<std_msgs::msg::String>("/teensy/T0/hbt", 10, topic_callback);
  }
private:
  rclcpp::TimerBase::SharedPtr timer_;
  rclcpp::Publisher<std_msgs::msg::String>::SharedPtr publisher_;
  rclcpp::Publisher<std_msgs::msg::Int32>::SharedPtr odo_;
  size_t count;
  //
  char hbtParams[100] = "";
  rclcpp::Subscription<std_msgs::msg::String>::SharedPtr subsHbt;
  void printHbt(const char * msg)
  {
    printf("# %lu got hbt %s", count, msg);
    snprintf(hbtParams, 100, "Hello RIC %lu %s", count++, msg);
    auto message = std_msgs::msg::String();
    message.set__data(hbtParams);
    this->publisher_->publish(message);
  }
};
int main(int argc, char ** argv)
{
  rclcpp::init(argc, argv);
  rclcpp::spin(std::make_shared<RIC_translator>());
  rclcpp::shutdown();
  return 0;
}
=== Run RIC_node ===
Compile (from workspace)
colcon build --packages-select ric_pkg
Then add it to the path
source install/setup.bash
and run
ros2 run ric_pkg ric_node
If the ''teensy_interface'' and the ''mqtt-client'' are also running, then (with the code above), it should print something like this on the console.
# 0 got hbt 1769340959.8623 13504.9463 105 1033 15.65 4 8 8.9 0.27 0
# 1 got hbt 1769340960.3625 13505.4463 105 1033 15.65 4 8 8.8 0.28 0
# 2 got hbt 1769340960.8626 13505.9453 105 1033 15.65 4 8 8.8 0.27 0
# 3 got hbt 1769340961.3622 13506.4463 105 1033 15.65 4 8 8.9 0.28 0
# 4 got hbt 1769340961.8625 13506.9463 105 1033 15.65 4 8 8.9 0.25 0
# 5 got hbt 1769340962.3631 13507.4453 105 1033 15.66 4 8 8.9 0.26 0
# 6 got hbt 1769340962.8624 13507.9463 105 1033 15.63 4 8 8.8 0.26 0
=== Ros2 relevant messages ===
One of the messages are probably ''twist'':
ros2 interface show geometry_msgs/msg/Twist
# This expresses velocity in free space broken into its linear and angular parts.
Vector3  linear
        float64 x
        float64 y
        float64 z
Vector3  angular
        float64 x
        float64 y
        float64 z
=== Where from here ===
Search for tutorials in https://docs.ros.org/en/jazzy/

Latest revision as of 12:26, 20 April 2026

Back to Ricbot


Hardware

Tentative layout:

Length is 1m, free height 25cm, width 65cm.

Installation notes

Camera position

Forward-looking camera: Intel RealSense D455, FOV 87 x 58 deg, range 0.6 to 6m.

Down-looking camera: Intel RealSense D435, FOV: 87 x 58 deg, range 0.3 to 3m.

Cabling

DRI0042: https://wiki.dfrobot.com/15A_Single_DC_Motor_Driver_SKU__DRI0042

Regbot 6.3: Regbot hardware board

RICBOT Power on-off board PCB

DRI0042 to Regbot 4-pin PWM

DRI              Regbot PWM    Software
7 GND   (black)  1 GND         --
4 PWM   (red)    2 in1         PIN_xxxx_DIR
5 IN1   (white)  3 in2         PIN_xxxx_PWM
6 IN2   (yellow) 4 fault       PIN_xxxx_FAULT
3 5V out 

DRI0042 control values
IN1 	IN2 	PWM 	OUT1, OUT2 Motor Behavior
0 	0 	x 	Stop
1 	1 	x 	Vacant (relax)
1 	0 	1 	Forward 100%
0 	1 	1 	Reverse 100%
1 	0 	PWM 	Forward at PWM speed
0 	1 	PWM 	Reverse at PWM speed

Power control

Pin        IDC10-pin      Software       Function
1 (black)  1              --             GND
2 (red)    3              LS_1  (pin 27) power off (when low)  -- pt not working (wrong mod on power board)
3 (white)  4              LS_0  (A6)     battery voltage  (39k/4.7k)
4 (yellow) 6              LS_4  (pin 26) Alive LED


Teensy interface

The Teensy interface implements a bridge to MQTT, a motor controller (velocity and turn rate), and a remote control.

The configuration is in 

/home/local/svn/teensy_interface/build/robot.ini

See also Robobot teensy interface.

Start at boot

See the similar start setup in [[1]].

Comment out (or delete) the start of the camera streamer (not compatible with RealSense 3D cam)

Install software on Raspberry Pi

Perform the same installation as Robobot install on Raspberry, except for the serial port configuration (which should not be needed).

Teensy software

This is the Regbot software, configured to match the Ricbot.

See more details here Regbot firmware.

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