# PUI on ROS2 [Distribution](https://docs.ros.org/en/foxy/Releases.html) --- ![](https://i.imgur.com/fKID4Hc.png =170x200) Install --- - [Ubuntu 20.04](https://releases.ubuntu.com/20.04/) - [ROS2 Foxy](https://docs.ros.org/en/foxy/Installation/Ubuntu-Development-Setup.html) Imigration Journal from ROS1 to ROS2 --- #### 1. pui_teleop pkg requirement - joystick_drivers `sudo apt install ros-foxy-joy` - [teleop_twist_joy](https://index.ros.org/p/teleop_twist_joy/github-ros2-teleop_twist_joy/) `sudo apt install ros-foxy-teleop-twist-joy` - TODO: 可以新增鍵盤遙控 teleop_twist_keyboard `sudo apt install ros-foxy-teleop-twist-keyboard` > Note: > [在索引中新增arguement:launch file](https://answers.ros.org/question/339484/how-to-solve-file-rviz2launchpy-was-not-found-in-the-share-directory-of-package/) #### 2. pui_msg pkg - [Official tutorial: Custom-ROS2-Interfaces](https://docs.ros.org/en/foxy/Tutorials/Custom-ROS2-Interfaces.html) - [ROS2 embedding a msg as a field in a custom msg](https://answers.ros.org/question/314724/ros2-embedding-a-msg-as-a-field-in-a-custom-msg/) - [micro-ros: Add new custom messages](https://github.com/micro-ROS/micro_ros_arduino/issues/142) - [micro-ros: Adding a new package to the build system](https://github.com/micro-ROS/micro_ros_arduino/issues/14#issuecomment-722242175) - [create_new_type](https://micro.ros.org/docs/tutorials/advanced/create_new_type/) > Tips: > 確認自定義msg建立 `ros2 interface show pui_msgs/msg/MultiRange ` #### 3. pui_uwb - Install Eigen library `sudo apt install libeigen3-dev` - [Role of including customed msg](https://www.programmersought.com/article/83463964985/) > Example of publishing topic thro cmd > `ros2 topic pub /topic std_msgs/msg/String "data: nono" ` > `ros2 topic pub /uwb_range pui_msgs/msg/MultiRange "{ranges: [1.0, 2.0, 3.0]}" ` > TODO > - [x] subscribe customed msg > - [x] ADD Eigen lib > - [x] Minimum Square Estimation > - [x] Output result > - [x] bug: position error > - [ ] initial position > - [x] Get parameters node #### 4. pui_markers - [ros2 marker](https://github.com/ros2/common_interfaces/tree/master/visualization_msgs) - [ros2 time-node](https://answers.ros.org/question/287946/ros-2-time-handling/) > TODO > - [x] tag_marker.cpp (merge into uwb_xinyi.cpp) > - [x] tag_path.cpp > - [x] ros::duration migrate to ros2 > - [x] clean code #### 5. pui_bringup - Dynamixel (pui_drive) - [Dynamixel Wizard 2.0 (not support Ubuntu 20.04 yet)](https://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_wizard2/) - [Dynamixel Workbench](https://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_sdk/download/#repository) - [DYNAMIXEL Quick Start Guide for ROS 2](https://www.youtube.com/watch?v=E8XPqDjof4U) - [DynamixelSDK 3.7.40 (Support ROS 2 Only)](https://github.com/ROBOTIS-GIT/DynamixelSDK/releases/tag/3.7.40) - [dynamixel-workbench-msgs](https://github.com/ROBOTIS-GIT/dynamixel-workbench-msgs/tree/ros2-devel) - [XL430-W250-T](https://emanual.robotis.com/docs/en/dxl/x/xl430-w250/) - `ros2 topic pub -1 /set_velocity dynamixel_sdk_custom_interfaces/msg/SetVelocity "{id: 1, velocity: 0}"` - ![](https://i.imgur.com/tw1U9Yr.png) `ros2 launch pui_teleop pui_teleop_launch.py` `ros2 run dynamixel_sdk_examples xl430_controll_node` > Dynamixel (pui_drive) TODO > - [x] Speed controller.cpp > - [x] mapping cmd_vel to speed controll - rviz2 (pui_overlapping) - [參考nav2_bringup rviz_launch.py](https://github.com/ros-planning/navigation2/blob/main/nav2_bringup/bringup/launch/rviz_launch.py) - [Nav2源码阅读（一）nav2_bringup tb3_simulation_launch.py](https://blog.csdn.net/weixin_41680653/article/details/117449074) - map_server (pui_overlapping) - [NAV2 install](https://navigation.ros.org/getting_started/index.html) - [NAV2- map server](https://navigation.ros.org/configuration/packages/configuring-map-server.html) - [managed life cycle](https://design.ros2.org/articles/node_lifecycle.html) - [nav2_lifecycle_manager](https://index.ros.org/p/nav2_lifecycle_manager/) - map_server on rviz2 ``` ros2 run nav2_map_server map_server __params:=map_server_params.yaml ros2 param set /map_server yaml_filename my_map11.yaml ros2 launch clock_publisher clock_publisher.launch.xml ros2 lifecycle set /map_server 1 ros2 lifecycle set /map_server 3 rviz2 ros2 topic info /map -v ``` > Unknown transition requested, available ones are: > -configure [1] > -activate [3] > -shutdown [5] **hint: lifecycle activate 之後再開rviz2才會出現地圖** - ![](https://i.imgur.com/Jut2pBg.jpg) - transform (pui_overlapping) - `ros2 run tf2_ros static_transform_publisher 1.52 1.68 0 0 0 -1.66 world map` - [ROS2入门教程-发布joint states和TF](https://www.ncnynl.com/archives/201801/2257.html) - [Using tf2 with ROS 2 ](https://docs.ros.org/en/foxy/Tutorials/tf2.html) - velodyne - `sudo apt install ros-foxy-velodyne-*` - [ros-drive velodyne](https://github.com/ros-drivers/velodyne/tree/ros2) - http://wiki.ros.org/velodyne/Tutorials/Getting%20Started%20with%20the%20Velodyne%20VLP16 - Network setting ![](https://i.imgur.com/aj3OITA.png) - Check conection ![](https://i.imgur.com/JNXYD5I.png) - View on rviz2 (Fixed fram= velodyne) ![](https://i.imgur.com/tIPKSW1.png) - ros2 bag (pui_overlapping) - [Ros2bag](https://docs.ros.org/en/foxy/Tutorials/Ros2bag/Recording-And-Playing-Back-Data.html) - `sudo apt install ros-foxy-rosbag2` - `ros2 bag record --all -o name` - ros-serial arduino node - [micro-ROS arduino](https://github.com/micro-ROS/micro_ros_arduino/tree/foxy) - [Teensyduino](https://www.pjrc.com/teensy/td_download.html) - [micro_ros_setup-foxy](https://github.com/micro-ROS/micro_ros_setup/tree/foxy) - [ROS2与arduino入门教程-安装Teensyduino](https://www.ncnynl.com/archives/202012/3989.html) `ros2 run micro_ros_agent micro_ros_agent serial --dev /dev/ttyACM0 -b 115200 -v 6` - [開啟arduino_agent後,ros_node找不到時](https://github.com/micro-ROS/micro_ros_arduino/issues/223) > 註解掉ros_domain_id=30 - [Teensy Hardware serial](https://www.pjrc.com/teensy/td_uart.html) - ![](https://i.imgur.com/F08KNdI.png) - [Adding a new package to the build system](https://github.com/micro-ROS/micro_ros_arduino/issues/14#issuecomment-722242175) - [Array messages on micro ros](https://github.com/micro-ROS/rmw-microxrcedds/issues/53) #### 6. /clock topic > 不只ros2 bag play時需要/clock(foxy不支援--cock指令,galactic有),建立地圖slam時，若是使用bag檔建地圖,也是需要/clock - [clock_publisher](https://github.com/mitsudome-r/clock_publisher) #### 7. SLAM - [ROS2与SLAM入门教程-slam-toolbox建图](https://www.ncnynl.com/archives/202106/4352.html) - Build a map: ``` ros2 launch velodyne velodyne-all-nodes-VLP16-composed-launch.py ros2 run tf2_ros static_transform_publisher 0 0 0 0 0 0 map odom ros2 run tf2_ros static_transform_publisher 0 0 0 0 0 0 odom base_footprint ros2 run tf2_ros static_transform_publisher 0 0 0 0 0 0 base_footprint velodyne ros2 launch slam_toolbox online_sync_launch.py ``` - Save a map: ``` ros2 launch nav2_map_server map_saver_server.launch.py ros2 service call /map_saver/save_map nav2_msgs/srv/SaveMap "{map_topic: map, map_url: map_name, image_format: pgm, map_mode: trinary, free_thresh: 0.25, occupied_thresh: 0.65}" ros2 run nav2_map_server map_saver_cli -f ~/map_name ``` #### 8. IMU - [Xsense Driver for ROS2](https://github.com/xsens/xsens_mti_ros_node/issues/58) - [Third party Xsense Driver for ROS2](https://github.com/bluespace-ai/bluespace_ai_xsens_ros_mti_driver) - `ros2 launch bluespace_ai_xsens_mti_driver xsens_mti_node.launch.py` - `ros2 launch bluespace_ai_xsens_mti_driver display.launch.py` #### 9. Multi-machine ROS - [Network configuration for ROS2 multi-machines](https://roboticsbackend.com/ros2-multiple-machines-including-raspberry-pi/) - [ROS 2概念（十七）——关于ROS_DOMAIN_ID](https://zhuanlan.zhihu.com/p/378752082) - [Arduino Nano RP2040 Connect](https://docs.arduino.cc/tutorials/nano-rp2040-connect/rp2040-ap-web-server-rgb) - [Arduino IoT Cloud 2021](https://www.youtube.com/watch?v=UFCmTZUoZ1M) --- ## cheat-sheet #### collect data ``` ros2 launch pui_bringup velodyne_all_launch.py ros2 run micro_ros_agent micro_ros_agent serial --dev /dev/ttyACM0 -b 115200 -v 6 ros2 bag record -a -o bag_name ``` #### replay data ``` ros2 bag play bag_name --loop ros2 launch pui_uwb trilateration_mse.launch.py ros2 run pui_markers uwb_marker ros2 run pui_markers tag_path rviz2 ``` ![](https://i.imgur.com/KnwixhX.png) #### build map and save it ``` ros2 launch velodyne velodyne-all-nodes-VLP16-composed-launch.py ros2 run tf2_ros static_transform_publisher 0 0 0 0 0 0 map odom ros2 run tf2_ros static_transform_publisher 0 0 0 0 0 0 odom base_footprint ros2 run tf2_ros static_transform_publisher 0 0 0 0 0 0 base_footprint velodyne ros2 launch slam_toolbox online_sync_launch.py ros2 launch nav2_map_server map_saver_server.launch.py ros2 service call /map_saver/save_map nav2_msgs/srv/SaveMap "{map_topic: map, map_url: map_name, image_format: pgm, map_mode: trinary, free_thresh: 0.25, occupied_thresh: 0.65}" ``` --- > TODO > - [ ] pui_overlapping > - [x] pui_drive (codes in dynamixel_sdk... needs to be clean) > - [x] velodyne > - [x] point_to_laser --- https://www.stereolabs.com/docs/code-samples/ https://www.stereolabs.com/docs/ros2/positional-tracking/ https://la.mathworks.com/help/ros/ug/exchange-data-with-ros-2-publishers-and-subscribers.html ![first bag(xinyi) recorded and replay in ros2](https://i.imgur.com/Au3jMkI.png =300x300) Reference --- - [ROS2 目錄](https://www.guyuehome.com/25194) - [ROS2 cheats sheet](https://github.com/ubuntu-robotics/ros2_cheats_sheet/blob/master/cli/cli_cheats_sheet.pdf) - [ROS Kinetic和Ubuntu 16.04 LTS的支持即将结束：如何减轻影响？](https://cn.ubuntu.com/blog/ros-kinetic-and-ubuntu-16-04-eol) - [在Ubuntu 20.04中安装ROS2最新版本Foxy Fitzroy](https://blog.csdn.net/feimeng116/article/details/106602562) - [ROS2-Foxy安装教程 ](https://blog.csdn.net/qq825255961/article/details/106949261) - [古月居-Why ROS2?](https://mp.weixin.qq.com/s?__biz=MzU1NjEwMTY0Mw==&mid=2247485880&idx=1&sn=9c7293998e169c033b1346ff21746759&chksm=fbcb70dcccbcf9ca03f7b98d6eec76192cda1f554a87b5dc089613ca5b26d4796b7e4692789d&scene=126&sessionid=1583412112&key=31fb57371192e55612920a04dba61df0b419722fe0dcef4b187ac24ef262b0532b0f267ffaab159608cc5566fd048abd9c45c67963e6930b4d5487ac5132a5a50fa10309ffa7fae71065258f47e9d908&ascene=1&uin=MTk5ODYzNDU%3D&devicetype=Windows+10&version=62080079&lang=zh_CN&exportkey=AWwDnb%2F7qd7feFXtZ7eMWOs%3D&pass_ticket=EkZ7OwOfdKdlb16kpJzipqs%2BvnXpyjJ%2BIZaegUUgbWo%3D古月居) - [古月居-ROS2探索总结](https://www.guyuehome.com/blog/index/category/12) - [古月居-ROS2 DDOS explaination](https://www.guyuehome.com/805) - [Udemy-ROS2 For Beginners (ROS Foxy-2021)](https://www.udemy.com/course/ros2-for-beginners/) - [Turtlebot3 Introducing ROS2 Tutorials](https://discourse.ros.org/t/tb3-introducing-ros2-tutorials/5959) - [ROS2机器人高效编程](https://class.guyuehome.com/detail/p_5e5f85df06a80_6Ga4qV9h/6) - [ROBOTICS- turtlebot3 e-manual](https://emanual.robotis.com/docs/en/platform/turtlebot3/quick-start/) - [ROS2 Foxy tutorial](https://docs.ros.org/en/foxy/Tutorials.html) - [Migrating launch files from ROS 1 to ROS 2](https://docs.ros.org/en/foxy/Guides/Launch-files-migration-guide.html) - [How to Setup VSCode for ROS](https://www.youtube.com/watch?v=RXyFSnjMd7M) - [Migration guide from ROS 1](https://docs.ros.org/en/foxy/Contributing/Migration-Guide.html?highlight=map#launch-files) - [採智科技機器人產品中文線上手冊翻譯整理](https://hackmd.io/@idminer/usermanual-tw/https%3A%2F%2Fhackmd.io%2FyhleSV1CQhmTJCMkFci80w) - [gitbook](https://zlargon.gitbooks.io/git-tutorial/content/startup/commit_a_patch.html) - [ROS 2 Foxy Fitzroy：为生产和开发机器人设定新标准](https://blog.csdn.net/ZhangRelay/article/details/106758875) - [AWS Online Tech Talks - ROS2 Foxy](https://www.youtube.com/watch?v=SEQaMTvWnCc) **wdqwd**