Remote-Access-Rover-with-ROS

A repository for a 6-wheel rocker bogie rover, based on Robotic Operative System ROS and python to control its perception and action systems. This repository contents:

• source codes.
• dev scripts (Python | ROS)
• Watch the YouTube video here
• Doc

Hardware elements

• Nvidia Jetson TK1: Lib
• Ion Motion Roboclaw, Dual DC motor driver: Lib
• Pololu USB servo Control: POL-1353
• Logitech Wireless Gamepad F710
• PC host running Ubuntu

Software requirements

• Python 2.7.15
• Rviz from ROS
• ROS Kinetic for Ubuntu 16.04 or Indigo for Ubuntu 14.04 on user PC.
• ROS Indigo for Ubuntu 14.04 (armhf) on Jetson TK1.

Getting Started on Jetson TK1

The following steps describe how to configure the Jetson TK1.

• Install ROS
• Install nano: sudo apt-get install nano
• Install Git: sudo apt-get install git-core
• Install Hamachi
• Remove sudo pass: sudo visudo

# Members of the admin group may gain root privileges
%admin ALL=(ALL) ALL
# Allow members of group sudo to execute any command
%sudo   ALL=(ALL:ALL) ALL

And replace those lines for these:

# Members of the admin group may gain root privileges
%admin ALL=(ALL) NOPASSWD: ALL
# Allow members of group sudo to execute any command
%sudo ALL=(ALL:ALL) NOPASSWD: ALL

• USB Rules Look for your USB devices info: udevadm info -a -n /dev/ttyUSB1 | grep Create this file with your idVendor and idProduct info: sudo nano /etc/udev/rules.d/99-robot.rules

SUBSYSTEM=="tty", ATTRS{idVendor}=="03eb", ATTRS{idProduct}=="2404", SYMLINK+="tty_roboclaw"
SUBSYSTEM=="tty", ATTRS{idVendor}=="0424", ATTRS{idProduct}=="9514", SYMLINK+="tty_pololu"

Save and run: sudo udevadm trigger sudo chmod 777 /dev/tty_roboclaw sudo chmod 777 /dev/tty_pololu

Installing USB camera on ROS

• Plug in the USB camera and check if it was recognized by system: lsusb ls /dev | grep video*

• Install usb_cam ROS node: sudo apt install ros-indigo-usb-cam

Functions to add on Jetson's .bashrc file

nano .bashrc

source /opt/ros/indigo/setup.bash

function arm {
        sudo chmod 777 /dev/tty_pololu
        python /home/ubuntu/Desktop/Mercury/arm.py
        sleep 1
        echo $"Arm OK..."
}

function exportar {
        export ROS_IP = {JetsonIP}
        export ROS_MASTER_URI = http://{pcIP}:11311
}

# If want to connect through hamachi
function exportar_hamachi {
        export ROS_IP = {JetsonHamachiIP}
        export ROS_MASTER_URI=http://{pcHamachiIP}:11311
}

#Launch main webcam
function webcam {
	roslaunch usb_cam usb_cam-test.launch &
        sleep 5
        echo $"Main camera ready..."
}

function run {
        sudo chmod 777 /dev/tty_roboclaw
        source /home/ubuntu/rbcw_ws/devel/setup.bash
        roslaunch roboclaw_node roboclaw.launch &
        sleep 3
        echo $"Run Launched"
}

function kinect {
	roslaunch freenect_launch freenect.launch
}

function ekf {
        python ~/Desktop/Mercury/ekf.py
}

function imu_node {
	sudo chmod 777 /dev/ttyUSB0
	source /home/ubuntu/xsens_ws/devel/setup.bash
	roslaunch xsens_driver xsens.launch
}


# Main function
function rover {
        roscore &
        sleep 4
        piloto &
        echo $"Launched piloto"
        sleep 2
        run &
        sleep 2
        echo $"Ready..."
}

sudo python /home/ubuntu/Desktop/Mercury/bash_config.py

Getting Started on host PC

• Install ros according to your ubuntu version, in this case Ubuntu 16.04.
• Install hamachi and haguichi.

Configuring a Linux-Supported Joystick with ROS

• Install the package: sudo apt-get install ros-kinetic-joy
• The joystick will be referred to by jsX: ls /dev/input
• You can test it by running: sudo jstest /dev/input/jsX Move the joystick around to see the data change.
• Give permissions on the joystick port: sudo chmod a+rw /dev/input/jsX
• To start the joy node: roscore rosparam set joy_node/dev "/dev/input/jsX" rosrun joy joy_node To see the data from the joystick: rostopic echo joy

Functions to add on PC's .bashrc file

source /opt/ros/kinetic/setup.bash

function pilot
{
  ls -l /dev/input/jsX
  sudo chmod a+rw /dev/input/jsX
  rosparam set joy_node/dev "/dev/input/jsX"
  rosrun joy joy_node &
 }

# If want to connect through hamachi
function exportar_hamachi 
{
        export ROS_IP = {pcIP}
}

function exportar
{
  export ROS_IP = {pcIP}
}

# To access Jetson webcam image
function webcam
{
	python ~/cam_bridge.py
}

Autors

• Nickson Garcia H. - (2420132006@estudiantesunibague.edu.co)
• Cristian Molina H. - (2420132009@estudiantesunibague.edu.co)
• Harold F. Murcia. - (harold.murcia@unibague.edu.co )