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* Manual remote control.
* Manual remote control.


[[Ricbot hardware]]
== User support ==


Tentative layout:
* [[RIC start and stop | Start, drive and stop]]
* [[RIC data recording | Data recording]]


[[file: ricbot_on-shape.png | 500px]]
== Installation notes ==


Length is 1m, free height 25cm, width 65cm.
* [[Ricbot hardware]]
 
* Ricbot installation of [[Ricbot realsense | Realsense]]
== Installation notes ==
* [[Ricbot ROS2 | ROS2]] including bridge from MQTT to ROS2 messaging
 
* [[Ricbot GNSS | GNSS]] installation, including 'gpsd'
=== Camera position ===
* [[Ricbot PTP | PTP]] time synchronization.
 
[[file: ric-camera-position.png | 500px]]
 
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]]
 
[[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
 
=== 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
 
There is a script to download and compile, e.g. on Raspberry Pi here:
https://github.com/realsenseai/librealsense/blob/master/doc/libuvc_installation.md
 
To install pyrealsense2 at the same time as librealsense, line 46 of the 'libuvc_installation.sh' build script should be changed from this:
cmake ../ -DFORCE_LIBUVC=true -DCMAKE_BUILD_TYPE=release
to this:
cmake ../ -DFORCE_LIBUVC=true -DCMAKE_BUILD_TYPE=release -DBUILD_PYTHON_BINDINGS:bool=true
From MartyG-RealSense on a pose here: https://github.com/realsenseai/librealsense/issues/13373
 
==== Library and examples ====
 
This is an alternative to the script above.
 
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
 
=== 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 14:26, 20 April 2026

Ricbot, a wheeled sensor platform

Ricbot is intended for fast deployment to areas of interest.

Main features:

  • Reused motors and wheels from an old "Elector Wheelie" platform
  • Designed to fit into a normal car for deployment, i.e can be disassembled to no more than 55cm in height.
  • No more than 25-30 kg, requiring 1 or 2 persons to load or unload.
  • Wheel-odometry recording (and timestamped)
  • Camera image recording (and timestamped), the intention is Realsense D435.
  • Maybe GNSS recording too.
  • Manual remote control.

User support

Installation notes

Retrieved from "https://rsewiki.electro.dtu.dk/index.php?title=Ricbot&oldid=8746"