Slide 1
Slide 1 text
Yet Another ROS 2 Navigation Robot:
Raspberry Pi Mouse
Yutaka Kondo @youtalk
https://www.youtalk.jp
Slide 2
Slide 2 text
ROS 2 Navigation Robots
TurtleBot3
from ROBOTIS
OpenRover
from Rover Robotics
2
Slide 3
Slide 3 text
Yet Another ROS 2 Navigation Robot
3
● RPLiDAR A1M8
○ $100 2D LiDAR
● RPLiDAR mount
○ Made by 3D printer
○ STL file
● Raspberry Pi Mouse
○ Mobile platform using
Raspberry Pi’s sysfs
○ Made by RT
Slide 4
Slide 4 text
System Configuration
4
Raspberry Pi 3 B PC
description
robot_state_
publisher
RasPi Mouse
driver
RPLiDAR
driver
static_transform
_publisher
bringup
Navigation 2
Google
Cartgrapher
rviz2
rosbag2
teleop_twist_
joy / keyboard
Only for bringup Navigation 2 and teleop
https://github.com/youtalk/raspimouse_ros2
Slide 5
Slide 5 text
Bring Up Raspi Mouse
1. Bring up Raspi and RPLiDAR A1M8 drivers
$ ros2 launch raspimouse_bringup robot.launch.py
2. Set up Raspi Mouse lifecycle
$ ros2 lifecycle set raspimouse_driver configure
$ ros2 lifecycle set raspimouse_driver activate
3. Turn on the motors
$ ros2 service call /motor_power std_srvs/SetBool '{data: true}'
5
Slide 6
Slide 6 text
Bring Up Raspi Mouse (con’t)
4. Visualize by RViz2
$ ros2 launch raspimouse_bringup rviz2.launch.py
6
Slide 7
Slide 7 text
SLAM with rosbag2 File
7
1. Launch the Cartographer nodes
$ ros2 launch raspimouse_cartographer
cartographer.launch.py
2. Play the recorded rosbag2 file
$ ros2 bag play XXX.bag
3. After making 2D map, save it
$ ros2 run nav2_map_server map_saver -f ~/.ros/map
Slide 8
Slide 8 text
8
https://youtu.be/OUnz8rO132Q
Slide 9
Slide 9 text
Launch ROS 2 Navigation
9
1. Launch navigation nodes
$ ros2 launch raspimouse_navigation2 navigation2.launch.py
map:=/home/$USER/.ros/map.yaml
2. Click the “2D Pose Estimate” button to adjust the current robot location
3. Click the “Navigation2 Goal” button to give the target robot location
Slide 10
Slide 10 text
10
https://youtu.be/iDeybhXFpAI
Slide 11
Slide 11 text
Thank You!
● More detail: https://discourse.ros.org/t/yet-another-ros-2-
navigation-robot-raspberry-pi-mouse/10670
● GitHub repository:
https://github.com/youtalk/raspimouse_ros2
● About me:
11
[email protected]
Name Nationality
Web page
Slide 12
Slide 12 text
12
ROS2ではじめよう 次世代ロボットプログラミング
● World first ROS 2 Book
● 1 of the reviewers is Geoff (Tier IV)
● ROS 2 Dashing Diademata
● It also contains ROS 1 summary
● Call for collaboration for English
translation
https://amzn.to/2Ji8mQl
12
Slide 13
Slide 13 text
13
Mission:
• Make the real world computable
• Robots for everyone