TUBES PROGRAMMING KRU 16 DAGOZILLA

"#mainbersih" - Rimba Harits Hartanto 2024

Table of Contents

• KRU 16
• General Information
• Technologies Used
• Features
• Setup
• How-to-use
• Structure

KRU 16

1. Alya Zahra Raisa Rahma
2. Bevinda Vivian
3. Kesha Mufrih Ramadhan
4. Muhammad Adha Ridwan
5. Sabilul Huda

General Information

Simple control package for locomotion and expanding arm

Technologies Used

• C++
• ROS2 - Jazzy

Features

• Simple Movement using W,A,S,D Key.
• Expand and Retract Arm using RIGHT,LEFT,UP Key.

Setup

• Setup ROS2 Jazzy Enviroment (https://docs.ros.org/en/jazzy/Installation.html)
• Download all folder and files on this repository or simply clone this repo!
• Download Autoware's CAN Message Wrapper, Choose Jazzy := ros2_socketcan & ros2_socketcan_msg (https://github.com/autowarefoundation/ros2_socketcan)
• Download Dependencies, Choose Dashing := can_msgs (https://github.com/ros-industrial/ros_canopen)

How-to-use

git clone https://github.com/adharidwan/tubes_dagoz.git
cd tubes_dagoz
cd src
make a new directories named ros2_socketcan then put ros2_socketcan,ros2_socketcan_msg and can_msgs package inside
make sure ros2_socketcan looks like this:
├── src              
|   └── ros2_socketcan  
|       └── ros2_socketcan
|       └── ros2_socketcan_msgs
|       └── can_msgs
colcon build
ros2 launch control control.launch.py
ros2 launch ros2_socketcan socket_can_bridge.launch.xml

Structure

├── src                 # contains all package
│   └── control         # contain all control node and code    
|   └── launch          # contain launch package 
|   └── ros2_socketcan  # contain autoware's ros2_socketcan wrapper for can_massage (https://github.com/autowarefoundation/ros2_socketcan)
|       └── ros2_socketcan
|       └── ros2_socketcan_msgs
|       └── can_msgs
└── README.md           # documentation
└── .gitignore          # gitignore for launch,build,log and vscode settings

Feature Documentation

Movements

Ensure all packages are successfully built with colcon build, and that the ROS 2 Jazzy environment is set up.

Locomotion Controls

1. Basic Movement:

   • Use the following keys to control the robot's movement:
     • W: Move Forward
     • A: Move Left
     • S: Move Backward
     • D: Move Right
   • These controls enable basic movement for navigating the robot.

2. Running the Locomotion Nodes:

   • Launch the keyboard_input node to enable keyboard controls: ros2 run control keyboard_input
   • Then, in a separate terminal, run the translator_locomotion node to translate the keyboard inputs into movement actions: ros2 run control translator_locomotion

Expanding and Retracting Arm Controls

1. Arm Controls:

   • Use the following keys to control the arm:
     • UP Arrow: Extend arm
     • DOWN Arrow: Retract arm
     • RIGHT Arrow: Move arm to the right
     • LEFT Arrow: Move arm to the left
   • This allows smooth extension, retraction, and horizontal movement of the arm.

2. Running the Arm Control Node:

• Start the translator_expanding node in a new terminal to handle arm control commands: ros2 run control translator_expanding

3. Testing the Controls:

• After launching all nodes (keyboard_input, translator_locomotion, and translator_expanding), test each movement and arm control to ensure they respond correctly. Recommended to use tmux