Yet Another ROS 2 Navigation Robot: Raspberry Pi Mouse

I've made a LT on #ROSCon2019 about "Yet Another ROS 2 Navigation Robot: Raspberry Pi Mouse" and a call for collaboration to translate my ROS 2 book into English.

Transcript

1. Yet Another ROS 2 Navigation Robot:
   Raspberry Pi Mouse
   Yutaka Kondo @youtalk
   https://www.youtalk.jp
   

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2. ROS 2 Navigation Robots
   TurtleBot3
   from ROBOTIS
   OpenRover
   from Rover Robotics
   2
   

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3. 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
   

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4. 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
   

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5. 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
   

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6. Bring Up Raspi Mouse (con’t)
   4. Visualize by RViz2
   $ ros2 launch raspimouse_bringup rviz2.launch.py
   6
   

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7. 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
   

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8. 8
   https://youtu.be/OUnz8rO132Q
   

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9. 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
   

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10. 10
    https://youtu.be/iDeybhXFpAI
    

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11. 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
    yutaka.kondo@youtalk.jp
    Name Nationality
    Web page
    

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12. 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
    

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13. 13
    Mission:
    • Make the real world computable
    • Robots for everyone
    

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