https://github.com/isri-aist/CALL-M_core
This workspace contains all the necessary files and ROS2 packages to install, build and operate the omnidirectionnal robot CALLM. This robot is developed to be automnomous or teleoperated with collision safe assisstance.
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- CUDA compatibles Graphic card (NVIDIA)
- Laptop with amd64 architecture
- Ubuntu 22.04
For this quickstart, we assume you already have a CALLM robot with set up computers on which the workspace is installed, or that you only want to use the simulated environnement. If you need to set a robot, check the section "SET UP CALLM ROBOT" on this README.
- Clone this workspace with all its submodules (execute where you want to place the workspace)
git clone --recurse-submodules -j8 https://github.com/Noceo200/CALL-M_core.git
- Install the workspace on your computer (will automatically install all needed dependancies)
bash CALL-M_core/set_up_robot/1_Set_up_USER_dev_amd64.sh
- Follow the instructions printed after the workspace installation.
- Restart your computer
- Build the workspace
cd CALL-M_core/robot_ws_ros2/
bash clean_build.sh
- Source the workspace in /home/user/.bashrc, add the following line:
source /<your_path>/CALL-M_core/robot_ws_ros2/install/setup.bash
- Restart your terminal, workspace is installed.
ros2 launch call_m_start_all call_m_simulation_start.launch.py mode:=COMPLETE nav_type:=none
The simulation and all controllers should start, the robot should be building a map when you move it around. For that, you can connect a joystick or select the Xterm windows with the keyboard instructions, and operate from here.
- Details for parameters are given in the section "Simulation PARAMETERS"
- execute on the NUC:
ros2 launch call_m_start_all call_m_hardware_start.launch.py version:=NUC mode:=DRIVERS
- execute on the JETSON:
ros2 launch call_m_start_all call_m_hardware_start.launch.py version:=JETSON
- execute on the terminal (your Laptop):
ros2 launch call_m_start_all call_m_hardware_start.launch.py version:=CLIENT mode:=DRIVERS nav_type:=none
- For the real robot to move, the TriOrb needs to be activated, so you can follow the Joystick instructions or do it manually by executing those commands, one by one in the same order:
ros2 lifecycle set /triorb configure
ros2 lifecycle set /triorb activate
- Details for parameters are given in the section "real robot PARAMETERS"
- Computers IPs and identifiers can be found in "HARDWARE INFORMATIONS"
| Name | Type | Details |
|---|---|---|
| mode | COMPLETE or API | Define which mode to use. -'COMPLETE': Launch the simulation, the controllers (joystick and keyboard) and the default navigation and visualization system which contains the low level collision avoidance, the navigate to point using vector field, and the assissted teleoperation using vector field features. As the navigation is managed, the user may directly use the robot by sending position and speeds commands with the joystick or the keyboard -'API': This mode launch everything but the controllers, so the control can be managed by an external custom ROS2 package |
| nav_type | none, on_fly or localize | Define which type of navigation should be launch. - 'none' means that only the SLAM will be launched, no automnomous navigation is launched, meaning that the user migh use a custom one if needed. - 'on_fly' means that all the navigation features will be available (assissted teleoperation and navigate to pose) and the robot will map or discover the environnement during run time. - 'localize' means that all the navigation features will be available (assissted teleoperation and navigate to pose) but the robot will use a know given map to navigate. It will still adapt to new dynamic obstacles, but not map them. Usually this mode is lighter than 'on_fly' so it should be used when the map is known. |
| nav_mode | .yaml file path | NAV2 allow to configure several parameters to have the wanted behavior. In CALLM case we only use NAV2 for path planning, so this file allow to customise it. NAV2 Documentation |
| map_loc | .yaml file path | Map to consider when doing navigation in localized mode (nav_type:=localize) |
| slam_param | .yaml file path | Configuration file for SLAM |
Check Visual API to know how to use the robot in different mode.
| Name | Type | Details |
|---|---|---|
| version | NUC, JETSON, CLIENT or FULL | Define on which computer the nodes is launched, for example, the NUC will launch some Nodes and the JETSON version will launch some other nodes like the zed_wrapper. The package can not be used on the NUC as it doesn't have a CUDA compatible graphic card. |
| mode | DRIVERS or API | Define on which mode to use. -'DRIVERS': start just the necessary nodes to control the Actuators and publish sensors data. The user may plug any ROS2 external controller, navigation system on the robot. -'API': This mode do like the DRIVERS mode but also launch the default navigation system which contains the low level collision avoidance, the navigate to point using vector field, and the assissted teleoperation using vector field features. As the navigation is managed by the NUC, the user may directly use the robot by sending position and speeds commands. |
| nav_type | none, on_fly or localize | Define which type of navigation should be launch. - 'none' means that only the SLAM will be launched, no automnomous navigation is launched, meaning that the user migh use a custom one if needed. - 'on_fly' means that all the navigation features will be available (assissted teleoperation and navigate to pose) and the robot will map or discover the environnement during run time. - 'localize' means that all the navigation features will be available (assissted teleoperation and navigate to pose) but the robot will use a know given map to navigate. It will still adapt to new dynamic obstacles, but not map them. Usually this mode is lighter than 'on_fly' so it should be used when the map is known. |
| nav_mode | .yaml file path | NAV2 allow to configure several parameters to have the wanted behavior. In CALLM case we only use NAV2 for path planning, so this file allow to customise it. NAV2 Documentation |
| map_loc | .yaml file path | Map to consider when doing navigation in localized mode (nav_type:=localize) |
| slam_param | .yaml file path | Configuration file for SLAM toolbox |
Check Visual API to know how to use the robot in different mode.
None, the JETSON doesn't run any feature that can be configured from the terminal yet.
Similar to NUC parameters. But differences for the parameter 'mode'.
| Name | Type | Details |
|---|---|---|
| mode | DRIVERS or API | Define on which mode to use. -'DRIVERS': Starts the default navigation, visualization and controllers system for operating the robot. -'API': In this mode, the TERMINAL pc expects the NUC to manage all navigation features, so it only runs controllers and visualization system. |
Check Visual API to know how to use the robot in different mode.
The only parameter to be careful with is 'mode', all computer should be API mode or DRIVERS mode.
- callm01c (NUC): 150.18.226.30
- callm01v (JETSON): 150.18.226.22
- BUFFALO router: 150.18.66.94
ssh -X jrluser@<IP>
or
ssh -X jrluser@<NAME>.local
example: ssh -X [email protected] to access the NUC
Here are the recommended way for using the robot. Those APIs are similar for simulated robot and Real robot. Any external program might use the topics to control the robot. But, if needed the CALL-M workspace already contains packages for controllers and visualization.
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chrony: Contqins configurqtion files to set up chrony.
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Hardware_doc: Contains informations and links to help set up the components.
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resources: Contains divers resources like images, schematics.
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robot_ws_ros2: This is the main directory that contains the whole ros2 workspace for using the simulated or the real CALL_M robot. (Check the README file in this directory for more details)
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set_up_robot: Contain file to flash, set up and install the workspace on all the computers. Check Set up callm robot
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tools_programs: Contains other useful programs for debugging or set up the components correctly.
To change the configurations and customize the navigation, check the README file in the ROS2 workspace.
To reset, set up, or reinstall the workspace on one of the computers, check the README file in the set_up_robot directory.
This section is used as a TO DO list of features that still need to be implemented or modified. There is no specific order, the developer may decide what is urgent or not.
| Label | Detail | Location of interest | Status |
|---|---|---|---|
| Update CALLM model in simulation | The current model dosen't contains UR5 arm and ultrasonic sensors | robot_ws_ros2/ src/ call_m_supervisor/description/ bot/ | To do |
| Allow namespace configuration at launch | Currently everything is running without a namespace, so it is impossible to launch several simulations or real robots on the same network. One of the branch on the github ('namespace_control_update_tentative') is already trying to solve that | Launch files parameters | Paused |
| Allow to set up configs file at launch | It would be convenient to allow any user to specify different configurations files to use instead of the defaults ones. The files paths would be given directly in the launch command as it is currently with the parameter 'nav_mode' for example | Launch files parameters | To do |
| Change NAV2 behavior tree | Currently NAV2 is still using its own controller, but this computing is useless if we decide of using the vector field controller inside NAV2 loops (currently both can be used independantly). So NAV2 behavior tree should only be computing path planning using the costmaps as an infinite way, without processing any controllers. | robot_ws_ros2/ src/ call_m_nav2/ | To do |
- Vector Field controller added to the workspace for assisted teleoperation and point following.
- /cmd_vel ---> /cmd_vel_nav in call_m_supervisor (cmd received from navigation system)
- Removed low level collison avoidance system, now managed by vector field controller when the user decide to use it through assissted teleoperation commands.
As it wasn't managing that before, The NUC didn't have the requiered packages to run the navigation features. The file robot_ws_ros2/2_export_set_up_files.sh had been updated so that the necessary packages are now sent to the NUC automatically along with the other ones.
The file 'set_up_robot/1_Set_up_USER_dev_amd64.sh' now contain commands to automatically install and configure chrony on the user computer. That wasn't the case before, but chrony is necessary to obtain a good synchronisation with the robot computers.