|
|
| (44 intermediate revisions by the same user not shown) |
| Line 13: |
Line 13: |
| * Manual remote control. | | * Manual remote control. |
|
| |
|
| Tentative layout:
| | == User support == |
|
| |
|
| [[file: ricbot_on-shape.png | 500px]] | | * [[RIC start and stop | Start, drive and stop]] |
| | * [[RIC data recording | Data recording]] |
|
| |
|
| Length is 1m, free height 25cm, width 65cm.
| | == Installation notes == |
|
| |
|
| == Installation notes ==
| | * [[Ricbot hardware]] |
| | | * Ricbot installation of [[Ricbot realsense | Realsense]] |
| === Camera position ===
| | * [[Ricbot ROS2 | ROS2]] including bridge from MQTT to ROS2 messaging |
| | | * [[Ricbot GNSS | GNSS]] installation, including 'gpsd' |
| [[file: ric-camera-position.png | 500px]] | | * [[Ricbot PTP | PTP]] time synchronization. |
| | |
| 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 ===
| |
| | |
| [[file: ric_cabling.png | 500px]] | |
| | |
| DRI0042: https://wiki.dfrobot.com/15A_Single_DC_Motor_Driver_SKU__DRI0042
| |
| | |
| Regbot 6.3: [[Regbot hardware board]]
| |
| | |
| 5V 5A: [https://www.aliexpress.com/item/1005008100990014.html?algo_exp_id=808ac6eb-4bfe-4ac4-a422-35a7cb0fd327-20&pdp_ext_f=%7B%22order%22%3A%22-1%22%2C%22eval%22%3A%221%22%2C%22fromPage%22%3A%22search%22%7D&pdp_npi=6%40dis!DKK!26.16!18.33!!!4.01!2.81!%402103890117656074573735161e95c5!12000043748989192!sea!DK!0!ABX!1!0!n_tag%3A-29910%3Bd%3A8bdbd77d%3Bm03_new_user%3A-29895&curPageLogUid=JqIWXdlTator&utparam-url=scene%3Asearch%7Cquery_from%3A%7Cx_object_id%3A1005008100990014%7C_p_origin_prod%3A#nav-specification | Aliexpress link to device]
| |
| | |
| ==== 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
| |
| | |
| === Intel RealSense ===
| |
| | |
| Install
| |
| sudo apt-get install automake libtool libusb-1.0-0-dev libx11-dev xorg-dev libglu1-mesa-dev
| |
| sudo apt install libssl-dev
| |
| | |
| ==== Library and examples ====
| |
| | |
| cd ~/git
| |
| git clone https://github.com/IntelRealSense/librealsense.git
| |
| cd librealsense
| |
| mkdir build
| |
| cd build
| |
| cmake ..
| |
| make -j3
| |
| sudo make install
| |
| | |
| Copy udev rules to udev
| |
| | |
| cd ~/git/librealsense/config/99-realsense*.rules /etc/udev/rules.d/
| |
| udevadm control --reload-rules
| |
| | |
| All example commands start with rs-, e.g.:
| |
| rs-capture
| |
| rs-pointcloud
| |
| | |
| === 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 [[https://rsewiki.electro.dtu.dk/index.php?title=Enable_autostart#Autostart]].
| |
| | |
| 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]].
| |
| | |
| === 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
| |
