# PIU PIU

---
:::info
:bulb: **電源**: Udoo 12V3A, Dynamixel 12V
:::

## Teleop
##### [turtlebot3_teleop](https://emanual.robotis.com/docs/en/platform/turtlebot3/basic_operation/#teleoperation)
###### Joystick: http://wiki.ros.org/joy/Tutorials/ConfiguringALinuxJoystick
###### teleoperation using a joystick:https://emanual.robotis.com/docs/en/platform/turtlebot3/basic_operation/#teleoperation

###### 羅技joystick無法控制？ （要同時按著中央Logitech鈕):https://answers.ros.org/question/243560/teleop_twist_joy-doesnt-publish/

###### How to predefine the TURTLEBOT3_MODEL:

$ echo 'export TURTLEBOT3_MODEL=burger' >> ~/.bashrc
$ source ~/.bashrc

###### U2D2 setup:https://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_workbench/

###### ID setting via Dinamixel wizard:https://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_wizard2/

###### hardware rules: check ../src/hardware_rule/README.md
###### Dynamixel workbench :https://github.com/ROBOTIS-GIT/dynamixel-workbench

> add "pev_sensors/config/dynamixel_wheel_2_0.yaml"

$ roslaunch pui_brinup pui_drive.launch
$ roslaunch pui_teleop pui_teleop.launch

:::info
:v: **Joystick**: 記得按著中間的joystick鈕,enable遙控訊號
:::

:::danger
:brain: **todo-1**: github (筆電跑完,上傳git,再用小車車pull and test on roads)
:::

:::warning
:brain: **next-2**: uwb tag上場 (2 anchor on Velodyne)
:::

:::warning
:brain: **next-3**: xsense imu 上場
:::

:::warning
:brain: **enhence**: joystick遙控（前進/轉彎的訊號無法同時遙控）
:::

---
採智科技
https://idminer.gitbook.io/robotis/part-1-turtlebot3/untitled-1

https://github.com/ROBOTIS-GIT/ros_book

---
## Build 3D/2D Map
> [color=#3198a0]5.0 Cheat-sheet
> ```javascript=
> roslaunch pui_bringup velodyne_VLP16.launch
> roslaunch pui_bringup point2laser.launch
> rosbag record -a -O /home/vincy/bags/pev_bag/xinyi_scan
> ```

### [pointcloud to laser-scan](https://wiki.ros.org/pointcloud_to_laserscan)
> [color=#3198a0]5.0 Prerequirements
> ```javascript=
> sudo apt-get install ros-kinetic-pointcloud-to-laserscan
> ```
> [color=#3198a0]5.1 point2laser.launch
> ```javascript=
> <launch>
> <!-- run pointcloud_to_laserscan node -->
> <node pkg="pointcloud_to_laserscan" type="pointcloud_to_laserscan_node" name="pointcloud_to_laserscan">
>
> <remap from="cloud_in" to="/velodyne_points"/>
> <!-- <remap from="velodyne_2d" to="velodyne_points"/> -->
> <!-- <remap from="velodyne_points" to="velodyne_2d"/> -->
> <rosparam>
> target_frame: velodyne_link
> transform_tolerance: 0.01
> min_height: 0.0
> max_height: 1.0
>
> angle_min: -3.14 # -M_PI
> angle_max: 3.14 # M_PI
> angle_increment: 0.0087 # M_PI/360.0
> scan_time: 0.3333
> range_min: 0.4
> range_max: 150.0
> use_inf: true
>
> # Concurrency level, affects number of pointclouds queued for processing and number of threads used
> # 0 : Detect number of cores
> # 1 : Single threaded
> # 2->inf : Parallelism level
> concurrency_level: 0
> </rosparam>
> </node>
> </launch>
> ```

### [turtlebot3_SLAM](https://emanual.robotis.com/docs/en/platform/turtlebot3/slam/)

0. 需要 但是跟PUI比起來不急
1. 需要第二台turtlebot底盤做收地圖用的？？
2. stl ＆ urdf建製(for PUI小車＆收地圖小車)
3. [cartegrapher](https://google-cartographer-ros.readthedocs.io/en/latest/demos.html#pure-localization)

---
> [color=#3198a0][用hector簡單建2d地圖](http://wiki.ros.org/hector_slam/Tutorials/MappingUsingLoggedData#Building_a_map)
> ```javascript=
> roslaunch hector_slam_launch tutorial.launch
> rosrun tf static_transform_publisher 0 0 0 0 0 0 base_footprint velodyne_link 100
> rosbag play /home/vincy/bags/pev_bag/[bag_file_name].bag --clock
> ```

[參數設定(無odom/imu...)](http://wiki.ros.org/hector_slam/Tutorials/SettingUpForYourRobot)

---

> [color=#3198a0][map_saver存地圖(.yaml)](
http://wiki.ros.org/map_server)
> ```javascript=
> rosrun map_server map_saver -f /home/vincy/map/[map_name]
> ```

---

> [color=#3198a0]map_server喚起地圖
> ```javascript=
> rosrun map_server map_server /home/vincy/map/[map_name].yaml
> ```

then open rviz to visualize

---

> [color=#3198a0]在rviz上畫出uwb(anchor)位置
> ```javascript=
> rosrun pui_markers uwb_xinyi
> ```

> [color=#3198a0]frame的tf轉換
> ```javascript=
> roslaunch pui_markers world_map_tf.launch
> ```

---
## 6. Bring up Map and Trilateration
> [color=#3198a0]6.0 Cheat-sheet
> ```javascript=
> roslaunch
> ```

> [color=#3198a0] 三角定位
> ```javascript=
> rosrun pui_uwb trilateration
> rosrun pui_markers tag_marker
> ```

---
## 7. Collect data N trilaterate on rviz
> [color=#3198a0]7.0 Cheat-sheet (collect uwb data)
> ```javascript=
> roslaunch pui_bringup velodyne_VLP16.launch
> roslaunch pui_bringup point2laser.launch
> rosrun rosserial_python serial_node.py /dev/ttyACM0 _baud:=115200
> rosbag record -a -O /home/vincy/bags/pui_bag/[bag_name]
> ```

> [color=#3198a0]回放bag,定位tag在rviz上
> ```javascript=
> roscore
> rosparam set /use_sim_time true
> rosbag play /home/vincy/bags/pui_bag/[bag_name] --clock
> rosrun map_server map_server /home/vincy/map/hector_fixed.yaml
> rosrun pui_markers uwb_xinyi
> roslaunch pui_markers world_map_tf.launch
> rosrun pui_uwb trilateration
> rosrun pui_markers tag_marker
> rosrun tf static_transform_publisher 0 0 0.5 0 0 0 map velodyne_link 100
> RVIZ
> ```



### Xesens IMU
http://wiki.ros.org/xsens_mti_driver
roslaunch xsens_mti_driver xsens_mti_node.launch

問題： imu data在車上w/tag, 但是4個anchor資料從anchor0收穫

TODO:
1. upgrade to ubuntu 20.04+ ros2+ NAV2
2. nav command thro wifi
3. occupancy map (point cloud)
4. update routes
5. 加入anchor4+ 第二台車
6. wireless sensor fusion w/ wifi ros stamp
7. sensor fusion w/ imu data
8. yaml輸入參數 on launch