Akula ROS2

Akula (Shark) robot is based on Tracer differential drive robot.

This package is created and tested only with ros2-foxy version!

Included sensors in ign simulation:

• IMU sensor
• Camera sensor
• Velodyne VLP16 LIDAR sensor

Install dependencies:

• Install ros2-foxy: https://docs.ros.org/en/foxy/Installation.html
• Install ignition fortress: https://gazebosim.org/docs/fortress/install_ubuntu
• Install ign-ros2-control: apt install ros-$ROS_DISTRO-ign-ros2-control
• Install ros-ign-gazebo: sudo apt install ros-$ROS_DISTRO-ros-ign-gazebo
• Install nav2: sudo apt install ros-$ROS_DISTRO-nav2-*

Clone necessary ROS2 packages to akula_ws:

• Clone akula_diff_drive_robot pkgs:

mkdir -p akula_ws/src
cd akula_ws/src
git clone https://github.com/NDHANA94/akula_diff_drive_robot.git    

• Clone gz_ros2_control pkg:

git clone --branch foxy https://github.com/ros-controls/gz_ros2_control.git ign_ros2_control
rosdep install -r --from-paths . --ignore-src --rosdistro $ROS_DISTRO -y
echo "export IGNITION_VERSION=fortress" >> ~/.bashrc

• Clone Velodyne ros2 pkgs:

git clone --branch foxy-devel https://github.com/ros-drivers/velodyne.git

• Clone slam_toolbox pkg:

git clone --branch foxy-devel https://github.com/SteveMacenski/slam_toolbox.git

• Clone pointcloud_to_laserscan:

git clone --branch foxy https://github.com/ros-perception/pointcloud_to_laserscan.git

• Clone tracer_ros2 pkgs:

git clone https://github.com/agilexrobotics/tracer_ros2.git
git clone https://github.com/westonrobot/ugv_sdk.git

Configurations:

• Velodyne_driver VLP-16 : /velodyne_driver/config/VLP16-velodyne_driver_node-params.yaml

velodyne_driver_node:
    ros__parameters:
        device_ip: 192.168.88.201
        gps_time: false
        time_offset: 0.0
        enabled: true
        read_once: false
        read_fast: false
        repeat_delay: 0.0
        frame_id: velodyne
        model: VLP16
        rpm: 600.0
        port: 2368

• Velodyne_pointcloud: /velodyne_pointcloud/configVLP16-velodyne_convert_node-params.yaml
  and /velodyne_pointcloud/config/VLP16-velodyne_transform_node-params.yaml

velodyne_convert_node:
    ros__parameters:
        calibration: VLP16db.yaml
        min_range: 0.3
        max_range: 130.0
        view_direction: 0.0
        organize_cloud: true

Build the pkgs:

cd ..
colcon build

launch Ignition gazebo simulation with rviz2

source install/setup.bash
ros2 launch akula_ign_sim akula_ros2.launch.py

controlling Akula robot via teleop_twist_keyboard

ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r /cmd_vel:=/tracer_controller/cmd_vel_unstamped

Run Real Akula Robot:

• Add following tracer_bringup.bash file to ~/ directory of NUC.
  Executing this bash script will enable ROS2 tracer_base node and CAN communication with tracer robot.

#!/bin/bash

# connecting with tracer via can0
echo "waiting for can connection..."
#sudo ip link set can0 up type can bitrate 500000
while [ ture ]
do
  sudo ip link set can0 up type can bitrate 500000
  if [ $? -eq 0 ];
  then
    echo "CAN is connected."
    break
  else
    echo "reconnecting with can0..."
    sudo ip link set can0 down
  fi
done

• Enable tracer_base node and CAN communication with tracer robot:

. ~/tracer_bringup.bash

• Launch akula_bringup:

ros2 launch akula_bringup akula_bringup.launch.py

• Controlling Real robot via teleop_twist_keyboard

ros2 run teleop_twist_keyboard teleop_twist_keyboard