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
2. ROS 2 Navigation Robots TurtleBot3 from ROBOTIS OpenRover from Rover Robotics 2
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
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
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
6. Bring Up Raspi Mouse (con’t) 4. Visualize by RViz2 $ ros2 launch raspimouse_bringup rviz2.launch.py 6
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
8. 8 https://youtu.be/OUnz8rO132Q
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
10. 10 https://youtu.be/iDeybhXFpAI
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
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
13. 13 Mission: • Make the real world computable • Robots for everyone