Scorpi

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Line 3: Line 3:
  
 
==Overview==
 
==Overview==
 +
 +
[[Motor drive]] firmware
 +
 +
[[Motor drive PCB]] with modifications
  
 
==Development nodes==
 
==Development nodes==
Line 10: Line 14:
 
Raspberry pi 5 installation
 
Raspberry pi 5 installation
  
−
* enable serial IO hardware (pin 15,16)
+
* enable serial IO hardware (GPIO pin 14,15) - but it doesn't seem to work on pi-5, can't read or write.
  
 
Install packages:
 
Install packages:
Line 24: Line 28:
 
  nmap
 
  nmap
 
  lsof
 
  lsof
−
  sudo apt install libreadline-dev libopencv-dev libgpiod-dev gpiod cmake subversion aptitude nmap lsof
+
swig
 +
dhcpcd
 +
  sudo apt install libreadline-dev libopencv-dev libgpiod-dev gpiod cmake subversion aptitude nmap lsof swig dhcp
  
 
=== YDLidar (S4B) ===
 
=== YDLidar (S4B) ===
Line 30: Line 36:
 
YDlidar serial connected like this:
 
YDlidar serial connected like this:
  
−
  YDLIDAR  cable color  Raspberry
+
  YDLIDAR  cable color  Raspberry  
−
  1 Vcc (5V)  black        4 (5V)
+
  1 Vcc (5V)  black        4 (5V)
−
  2 Tx        red          10 (GPIO 16) (RxD)
+
  2 Tx        red          10 (GPIO 15) (RxD)
−
  3 Rx        white        8 (GPIO 15)(TxD)
+
  3 Rx        white        8 (GPIO 14)(TxD)
−
  4 Gnd        Yellow      6 (Ground)
+
  4 Gnd        Yellow      6 (Ground)
−
  5 M_SCP      Orange      18 (GPIO 5)
+
  5 M_SCP      Orange      18 (GPIO 24)
−
  6 Dev_enable Green        16 (GPIO 4)
+
  6 Dev_enable Green        16 (GPIO 23)
−
  7 M_enable  Blue        12 (GPIO 1)
+
  7 M_enable  Blue        12 (GPIO 18)
 
  8 NC        Purple      14 (ground, to use all pins)
 
  8 NC        Purple      14 (ground, to use all pins)
  
Line 52: Line 58:
 
  $ cmake ..
 
  $ cmake ..
 
  $ make -j4
 
  $ make -j4
 +
 +
==Ros2 Iron==
 +
 +
Installation on Raspberry Pi 5 running
 +
default 64-bit OS: Debian GNU/Linux 12 (bookworm)
 +
 +
=== Base===
 +
Add en_DK.UTF-8 in this list
 +
$ sudo dpkg-reconfigure locales
 +
Then run
 +
$ sudo update-locale LC_ALL=en_DK.UTF-8 LANG=en_DK.UTF-8
 +
$ export LANG=en_DK.UTF-8
 +
 +
Compiled packages are not supported for Raspberry 64-bit OS, so install from source,
 +
Followed:
 +
 +
https://docs.ros.org/en/iron/Installation/Alternatives/Ubuntu-Development-Setup.html
 +
 +
The result goes into ~/ros2_iron
 +
 +
Note that ''rosdep'' fails in most cases, as the platform is not that much supported.
 +
Manual dependency updates are therefore used in most cases.
 +
 +
Note, this command takes maybe 3 hours to compile all (on Raspberry Pi 5 - (8G memory):
 +
 +
cd ~/ros2_iron/
 +
colcon build --symlink-install
 +
 +
Add this line to ~/.bashrc
 +
source /home/local/ros2_iron/install/setup.bash
 +
 +
The examples should now work (in separate terminals)
 +
ros2 run demo_nodes_cpp talker
 +
ros2 run demo_nodes_py listener
 +
 +
=== ROS2 domain ===
 +
 +
Ros2 domain over local network
 +
 +
$export | grep ROS_
 +
 +
could show
 +
 +
declare -x ROS_AUTOMATIC_DISCOVERY_RANGE="SUBNET"
 +
declare -x ROS_DISTRO="iron"
 +
declare -x ROS_DOMAIN_ID="8"
 +
declare -x ROS_LOCALHOST_ONLY="0"
 +
declare -x ROS_PYTHON_VERSION="3"
 +
declare -x ROS_VERSION="2"
 +
 +
In this case, ROS cooperates with others on the local network who also have ROS_DOMAIN_ID="8."
 +
 +
If used, insert these into ~/.bashrc
 +
export ROS_DOMAIN_ID=8
 +
export ROS_LOCALHOST_ONLY="0"
 +
 +
ROS_DOMAIN=0 is the default.
 +
 +
==YDLidar driver==
 +
 +
Make a new ROS2 workspace for this application, here called ''scorpi_ws''
 +
 +
mkdir -p ~/scorpi/src
 +
cd scorpi_ws/src
 +
 +
Get the modified YDLidar driver (modified for ''iron'')
 +
 +
ls
 +
  ydlidar_ros2
 +
 +
Modify scorpi_ws/src/ydlidar/params/ydlidar.yaml to the type of YDlidar you use,
 +
For YDlidar X4 it could look like
 +
ydlidar_node:
 +
  ros__parameters:
 +
    port: /dev/ttyUSB0
 +
    frame_id: laser_frame
 +
    ignore_array: ""
 +
    baudrate: 128000
 +
    samp_rate: 9
 +
    resolution_fixed: true
 +
    singleChannel: false
 +
    auto_reconnect: true
 +
    reversion: true
 +
    isToFLidar: false
 +
    angle_max: 180.0
 +
    angle_min: -180.0
 +
    max_range: 16.0
 +
    min_range: 0.1
 +
    frequency: 10.0
 +
 +
Now build the driver
 +
 +
cd ..
 +
colcon build
 +
 +
You should get a few warnings only.
 +
 +
With the YDLidar X4 connected test with the driver nodes.
 +
 +
cd ~/scorpi_ws
 +
ros2 run ydlidar ydlidar_node
 +
 +
And get something like:
 +
 +
[YDLIDAR INFO] Current ROS Driver Version: 1.4.5
 +
[YDLIDAR INFO] port: /dev/ttyUSB0
 +
[YDLIDAR INFO] baudrate: 128000
 +
[YDLIDAR]:SDK Version: 1.4.5
 +
[YDLIDAR]:Lidar running correctly ! The health status: good
 +
[YDLIDAR] Connection established in [/dev/ttyUSB0][128000]:
 +
Firmware version: 1.4
 +
Hardware version: 1
 +
Model: X4
 +
Serial: 2018060400000037
 +
[YDLIDAR INFO] Current Sampling Rate : 5K
 +
[YDLIDAR INFO] Now YDLIDAR is scanning ......
 +
 +
The node should publish /scan, e.g.:
 +
 +
ros2 topic list
 +
/parameter_events
 +
/rosout
 +
/scan
 +
 +
== SLAM toolbox ==
 +
 +
Fetch the SLAM toolbox from https://github.com/SteveMacenski/slam_toolbox.git
 +
 +
cd ~/scorpi_ws/src
 +
git clone https://github.com/SteveMacenski/slam_toolbox.git
 +
 +
This can not be build right away, as some dependencies are missing
 +
 +
sudo apt install libsuitesparse-dev
 +
sudo apt install libeigen3-dev
 +
sudo apt install libceres-dev
 +
sudo apt install libbondcpp-dev
 +
 +
cd ~/scorpi_ws
 +
colcon build
 +
 +
Compile failed with:
 +
 +
In file included from /home/local/scorpi_ws/src/slam_toolbox/src/slam_toolbox_common.cpp:23:
 +
/home/local/scorpi_ws/src/slam_toolbox/include/slam_toolbox/slam_toolbox_common.hpp:34:10: fatal error: bondcpp/bond.hpp:
 +
No such file or  directory
 +
  34 | #include "bondcpp/bond.hpp"
 +
 +
It seems like bond.hpp is not included in the version of libbondcpp-dev.
 +
 +
Bond is used by the lifecycle manager - that can be disabled. So, assuming it will run without, I removed all references to bond in
 +
include/slam_toolbox/slam_toolbox_common.hpp
 +
src/slam_toolbox_common.cpp
 +
Two include files, one pointer in the hpp file, two functions and two calls to these functions in the cpp file.
 +
 +
Then the package compiled OK.

Latest revision as of 18:39, 28 April 2024

Scorpi in profile.png

Contents

[edit] Overview

Motor drive firmware

Motor drive PCB with modifications

[edit] Development nodes

[edit] Raspberry pi

Raspberry pi 5 installation

  • enable serial IO hardware (GPIO pin 14,15) - but it doesn't seem to work on pi-5, can't read or write.

Install packages: 

libreadline-dev
libopencv-dev
libgpiod-dev
gpiod
cmake
subversion
aptitude
ntp
ntpdate
nmap
lsof
swig
dhcpcd
sudo apt install libreadline-dev libopencv-dev libgpiod-dev gpiod cmake subversion aptitude nmap lsof swig dhcp

[edit] YDLidar (S4B)

YDlidar serial connected like this: 

YDLIDAR   cable color   Raspberry 
1 Vcc (5V)   black        4  (5V)
2 Tx         red          10 (GPIO 15) (RxD)
3 Rx         white        8  (GPIO 14)(TxD)
4 Gnd        Yellow       6  (Ground)
5 M_SCP      Orange       18 (GPIO 24)
6 Dev_enable Green        16 (GPIO 23)
7 M_enable   Blue         12 (GPIO 18)
8 NC         Purple       14 (ground, to use all pins)

Software YDLidar-SDK

From Git repository 

$ mkdir -p git
$ cd git
$ git clone https://github.com/YDLIDAR/YDLidar-SDK.git
$ cd YDLidar-SDK
$ mkdir build
$ cd build
$ cmake ..
$ make -j4

[edit] Ros2 Iron

Installation on Raspberry Pi 5 running default 64-bit OS: Debian GNU/Linux 12 (bookworm)

[edit] Base

Add en_DK.UTF-8 in this list 

$ sudo dpkg-reconfigure locales

Then run 

$ sudo update-locale LC_ALL=en_DK.UTF-8 LANG=en_DK.UTF-8
$ export LANG=en_DK.UTF-8

Compiled packages are not supported for Raspberry 64-bit OS, so install from source, Followed:

https://docs.ros.org/en/iron/Installation/Alternatives/Ubuntu-Development-Setup.html

The result goes into ~/ros2_iron

Note that rosdep fails in most cases, as the platform is not that much supported. Manual dependency updates are therefore used in most cases.

Note, this command takes maybe 3 hours to compile all (on Raspberry Pi 5 - (8G memory):

cd ~/ros2_iron/ colcon build --symlink-install

Add this line to ~/.bashrc 

source /home/local/ros2_iron/install/setup.bash

The examples should now work (in separate terminals) 

ros2 run demo_nodes_cpp talker
ros2 run demo_nodes_py listener

[edit] ROS2 domain

Ros2 domain over local network 

$export | grep ROS_

could show 

declare -x ROS_AUTOMATIC_DISCOVERY_RANGE="SUBNET"
declare -x ROS_DISTRO="iron"
declare -x ROS_DOMAIN_ID="8"
declare -x ROS_LOCALHOST_ONLY="0"
declare -x ROS_PYTHON_VERSION="3"
declare -x ROS_VERSION="2"

In this case, ROS cooperates with others on the local network who also have ROS_DOMAIN_ID="8."

If used, insert these into ~/.bashrc 

export ROS_DOMAIN_ID=8
export ROS_LOCALHOST_ONLY="0"

ROS_DOMAIN=0 is the default.

[edit] YDLidar driver

Make a new ROS2 workspace for this application, here called scorpi_ws 

mkdir -p ~/scorpi/src
cd scorpi_ws/src

Get the modified YDLidar driver (modified for iron) 

ls
  ydlidar_ros2

Modify scorpi_ws/src/ydlidar/params/ydlidar.yaml to the type of YDlidar you use, For YDlidar X4 it could look like 

ydlidar_node:
 ros__parameters:
   port: /dev/ttyUSB0
   frame_id: laser_frame
   ignore_array: ""
   baudrate: 128000
   samp_rate: 9
   resolution_fixed: true
   singleChannel: false
   auto_reconnect: true
   reversion: true
   isToFLidar: false
   angle_max: 180.0
   angle_min: -180.0
   max_range: 16.0
   min_range: 0.1
   frequency: 10.0

Now build the driver 

cd ..
colcon build

You should get a few warnings only.

With the YDLidar X4 connected test with the driver nodes. 

cd ~/scorpi_ws
ros2 run ydlidar ydlidar_node

And get something like: 

[YDLIDAR INFO] Current ROS Driver Version: 1.4.5
[YDLIDAR INFO] port: /dev/ttyUSB0
[YDLIDAR INFO] baudrate: 128000
[YDLIDAR]:SDK Version: 1.4.5
[YDLIDAR]:Lidar running correctly ! The health status: good
[YDLIDAR] Connection established in [/dev/ttyUSB0][128000]:
Firmware version: 1.4
Hardware version: 1
Model: X4
Serial: 2018060400000037
[YDLIDAR INFO] Current Sampling Rate : 5K
[YDLIDAR INFO] Now YDLIDAR is scanning ......

The node should publish /scan, e.g.: 

ros2 topic list
/parameter_events
/rosout
/scan

[edit] SLAM toolbox

Fetch the SLAM toolbox from https://github.com/SteveMacenski/slam_toolbox.git 

cd ~/scorpi_ws/src
git clone https://github.com/SteveMacenski/slam_toolbox.git

This can not be build right away, as some dependencies are missing 

sudo apt install libsuitesparse-dev
sudo apt install libeigen3-dev
sudo apt install libceres-dev
sudo apt install libbondcpp-dev

cd ~/scorpi_ws
colcon build

Compile failed with: 

In file included from /home/local/scorpi_ws/src/slam_toolbox/src/slam_toolbox_common.cpp:23:
/home/local/scorpi_ws/src/slam_toolbox/include/slam_toolbox/slam_toolbox_common.hpp:34:10: fatal error: bondcpp/bond.hpp: 
No such file or  directory
 34 | #include "bondcpp/bond.hpp"

It seems like bond.hpp is not included in the version of libbondcpp-dev.

Bond is used by the lifecycle manager - that can be disabled. So, assuming it will run without, I removed all references to bond in 

include/slam_toolbox/slam_toolbox_common.hpp
src/slam_toolbox_common.cpp

Two include files, one pointer in the hpp file, two functions and two calls to these functions in the cpp file.

Then the package compiled OK.

Retrieved from "http://rsewiki.elektro.dtu.dk/index.php?title=Scorpi&oldid=6913"
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