RoboCup Humanoid ROS2 Control

ROS2 control system for humanoid robots using Waveshare Bus Servo Adapter and Feetech STS3215 servos.

Quick Start

Prerequisites

• Windows 10/11 with WSL2 (Installation Guide)
• Docker Desktop (Download)
• Git (Download)

Setup

1. Install WSL2 if not already installed:

   # Open Powershell as Administrator
   wsl --install
   wsl --set-default-version 2

2. Clone the repository:

   git clone https://github.com/yourusername/your-repo-name.git
   cd your-repo-name

3. Build the Docker container:

   docker-compose build

4. Start the container:

   docker-compose up -d

5. Enter the container:

   docker exec -it ros2_waveshare bash

Basic Usage

1. Inside the container, source ROS2:

   source /opt/ros/humble/setup.bash
   source /ros2_ws/install/setup.bash

2. Launch the control system:

   ros2 launch waveshare_servos example.launch.py

Workflow

Development Cycle

# Stop any running containers
docker-compose down

# Pull latest changes
git pull

# Rebuild and start
docker-compose up -d --build

# Enter container
docker exec -it ros2_waveshare bash

Quick Start (No Rebuilding)

# Start existing container
docker-compose up -d

# Enter container
docker exec -it ros2_waveshare bash

Stopping Work

# Exit container (when inside container)
exit

# Stop container
docker-compose down

Common Operations

Rebuilding After Code Changes

Inside the container:

cd /ros2_ws
colcon build --merge-install
source install/setup.bash

Managing Docker Resources

# View running containers
docker ps

# View all containers
docker ps -a

# Remove all stopped containers
docker container prune

# Remove all unused images
docker image prune

# Full cleanup (USE WITH CAUTION)
docker system prune -a

USB Device Setup

1. Plug in Waveshare Bus Servo Adapter

2. Find device name:

   ls /dev/ttyUSB* /dev/ttyACM*

3. Update config file:

   cd /ros2_ws/src/waveshare_servos/config
   nano example_controllers.yaml  # Update 'port:' to match your device

Servo Configuration

Setting Servo IDs

Connect one servo at a time:

ros2 run waveshare_servos set_id --ros-args -p start_id:=1 -p new_id:=<new_id>

Calibrating Servo Midpoint

ros2 run waveshare_servos calibrate_midpoint --ros-args -p id:=<id>

Troubleshooting

Container Issues

1. "Container not starting"

   docker-compose down
   docker system prune -f
   docker-compose up -d

2. "USB device not found"

   # Inside container
   chmod 666 /dev/ttyUSB0  # or your port

3. "Build failures"

   # Inside container
   cd /ros2_ws
   rm -rf build install log
   colcon build --merge-install

ROS2 Issues

1. "Controllers not spawning"

   • Check if hardware is connected
   • Verify port configuration
   • Restart the launch file

2. "Communication errors"

   • Check power supply
   • Verify servo IDs
   • Check USB connection