This project contains ROS support driver and navigation packages for OMOROBOT's research platform R-1 and R-1 mini. This packages allows users not only run the robot but also start mapping and autonomous navigation when equipped with 2-D lidar such as ydlidar sensor. (Latest version tested with ROS-melodic installation)

한국어문서

Currently supporting models:

• OMO-R1
• OMO-R1-mini

• 1. Installations
• 2. How to use
• 3. Trouble shooting
• 4. SLAM Mapping & Navigation

git clone this package into the source folder of your ROS catkin workspace i.e, under ros_catkin_ws/src. (This package is also tested under ROS-Kinetic or ROS-Melodic)

$ cd to catkin_ws/src
$ git clone https://github.com/omorobot/omoros.git
$ cd to catkin_ws
$ catkin_make

If you are using Raspberry pie (pie), follow instructions below. In order to use libraries such as tf2, it is recommended to install with Desktop version of ROS.

Installing ROS Kinetic on the Raspberry Pie

** Install from the image already installed the entire packages **

If you are not familiar with installation process or avoid hassles installing all the packages, you can also download the entire image of the system from below link and burn your microSD using your favorite burning software such as etcher.

For raspbian stretch + ROS-kinetic Raspian stretch image with ROS-kinetic installed

For raspbian buster + ROS-melodic Raspian buter image with ROS-melodic installed

When first boot from the newly burned sd-card, run raspi-config and expand file system to the size of the SD memory card.

Following packages may be required to run the driver.
Refer to below links for specific intallations.

ROS JOY node

• run below script to install joy node.

$ sudo apt install libusb-dev libbluetooth-dev libcwiid-dev libspnav-dev

ROS TF

If joystick is not available, you can drive the robot using keyboard with teleop_twist_keyboard package.
ROS teleop_twist_keyboard

Attach the USB to Serial port into the PC and check the path of the port. Normally these paths are set as /dev/ttyUSB# however, if there are multiple of USB ports are connected, the numbers are regularly changed by order of connections and not fixed.

To fix the path of the port, the contents of /etc/udev/rules.d need to be modified.

First, run lsusb command to identify idVendor and idProduct of the USB-Serial port.

$ lsusb
Bus 001 Device 029: ID 0403:6001 Future Technology Devices International, Ltd FT232 USB-Serial (UART) IC

Check numbers followed by ID and the former one ("0403" part) is idVendor while the latter "6001" represents idProduct.
Go to bringup folder and open "99-omoros.rules" with your favorite text editor and modify numbers accordingly.

SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6001", MODE:="0666", GROUP:="dialout", SYMLINK+="ttyMotor"

Now run the script file "create_udev_rules" to generate rules under /etc/udev/rules.d and your usb-to-serial port will always have /dev/ttyMotor as its path.

$ ./create_udev_rules
This script copies a udev rule to /etc/udev/rules.d/ to fix serial port path 
to /dev/ttyMotor for omoros driver.

Reload rules

In the launch folder, there are some files to run omoros driver or navigation packages.

To test drive the robot with Joystick, depending on which robot you are working with, simply drive_r1.launch or drive_r1mini.launch in the terminal as below.

To drive R1 robot, open a terminal and enter below command.

$ roslaunch omoros drive_r1.launch <param>

You can input different parameters in as below

• set_port:= Path to the serial port (default is "/dev/ttyMotor")
• set_run_rviz:= whether to run rviz (default is "0". Change to "1" to visualize the robot in rviz.)
• set_joy_en:= whether to enable joystick input(default is "1" Change to "0" to drive the robot with ROS Topic:cmd_vel message.)

To drive R1-mini robot, open a terminal and enter below command.

$ roslaunch omoros drive_r1mini.launch <param>

You can input additional parameters in as below

• set_remote:= To launch in remote mode (default is "1". Change to "0" to only run in local machine)

Notice Make sure your serial to USB device is working corrently.

If you find any issues relate to serial ports, refer to Serial

Now open the terminal and enter below command to run omoros_core.launch.

$ roslaunch omoros omoros_core.launch

After you hear beeping sound from the robot, you can see robot is moving in the simulated evironment such as rviz. Run rosrun rviz rviz to see if the robot moves according to your command.

In case of R1-mini robot, there is no room for monitors and keyboard and simply not practical to run all packages with limited resources. ROS allows user can run nodes in different system as if they are in the same console by setting ROS_MASTER.

• Check IP address of host pc.
• Make sure the same version of ROS as in the Robot PC is installed in the Host PC.

Open up a terminal and enter below command

export ROS_MASTER_URI=http://<IP Adress of Host PC>:11311
export ROS_IP=<IP Adress of Host PC>

Launch host_r1mini_view.launch

roslaunch omoros host_r1mini_view.launch

• Check if the target is connected to the router
• Check IP address of target
• Check if the target is accessible via ssh

Open a separate terminal in the host and try to connect to target via ssh. If connected to the target, enter below.

export ROS_MASTER_URI=http://<IP Adress of Host PC>:11311
export ROS_IP=<IP Adress of Target>

Launch drive_r1mini.launch

$ roslaunch omoros drive_r1mini.launch

Below image describes how you can operate the robot using joystick command.

• Move stick FWD/REV and Left/Right for manual control.
• If you press arrow buttons, the robot will move certain distance or angle.
• To switch from manual control mode to auto, press 'A' or '1' button and the robot will move per cmd_vel message from otehr nodes.

If there is error controlling with joystick, please see next.

This driver will publish or subscribe below messages.

$ rostopic list

/cmd_vel
/diagnostics
/joy
/joy/set_feedback
/motor/encoder/left
/motor/encoder/right
/motor/status
/odom

Subscribed message

• joy

  • Axis: Stick input of the Joystick's FWD/REV and Left/Right will be converted to each motor's wheel speed.
  • BUttons: Switch control mode between Manual and Auto mode by pressing button "1" or "A".

• cmd_vel

  • http://wiki.ros.org/Robots/TIAGo/Tutorials/motions/cmd_vel
  • cmd.linear.x : Robot's translational speed in m/s
  • cmd.angular.z : Robot's rotational speed in rad/s

Publish message

• motor/encoder/left or right: Output accumulated encoder counts of each motor.

• motor/status

  • Output Encoder counts, RPM, ODO, speed(mm/s).

• odom: Translational speed and rotational speed of the robot for Navigation.

• Sub-link of "odom" is "base_link".

• Permission error: Add user dialout

If you see messages like below and cannot open the port.

[Errno 13] Permission denied: '/dev/ttyUSB0'

Add user group to dialout using below command.

''' $ sudo gpasswd -a UserName dialout '''

Log out and re log-in then it should run correctly.

• If the serial port cannot be opened.

Check path of the serial port.

Open launch/omoros_core.launch and modify below line.

      <param name="port" value="/dev/ttyMotor"/>

In order to use Raspberry Pie's insternal serial port, change the port name as below.

'/dev/ttyS0'

Depending on the type of joysticks, it may cause some errors and is due from different index numbers assigned to each buttons or axis.

Run rostopic echo joy command to check index numbers of each axes and buttons assigned to pyisical joystick. If the numbers are different from what you see in the topic, change the numbers in self.joyAxes[#] or self.joyButtons[#] accordingly.

---
header: 
  seq: 14
  stamp: 
    secs: 1559113339
    nsecs: 939150960
  frame_id: ''
axes: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
buttons: [0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
---

Please note this feature is only tested with R1.
With the help of 2D lidar sensor such as YDLidar, the Robot can generate maps and start navigate autonomously by applying SLAM technologies already implemented in ROS. You can test run SLAM and navigation by running omoros_navigation.launch file as below.

• YDLidar can be purchased from https://www.amazon.com/SmartFly-info-LIDAR-053-YDLIDAR-Frequency/dp/B07DBYHJVQ/ref=sr_1_1?keywords=ydlidar&qid=1568906093&sr=8-1 or https://smartstore.naver.com/omorobot/products/4445001397
• ROS must be installed with Desktop-Full
• Below packages maybe required to run omoros_navigation.launch

Go to src folder uner catkin_ws and download packages as below.

$ git clone https://github.com/EAIBOT/ydlidar.git

catkin_make to install package.

$ catkin_make --pkg ydlidar

Go to startup in the package and run initenv.sh to assign port name of the usb-to-serial port.

For detailed installation, please refer to https://github.com/EAIBOT/ydlidar

use apt command to install necessary packages. (Per ROS-Melodic)

$ sudo apt install ros-melodic-amcl ros-melodic-gmapping ros-melodic-navigation

Once installation is completed, use roslaunch to run omoros navigation launch file.

By launching omoros_navigation, all the required packages for SLAM mapping can be run at once.
This is recommended if the PC has enough resources for heavy computations.

$ roslaunch omoros omoros_navigation.launch 

Single board computers such as raspberry pi may not have enough compuational power to run SLAM navigation and need help of Host PC.
In this case only run drive and sensor nodes in the onboard pc and all other packages need to be run in host pc.
For setting up ROS, please refer to 2.2 Drive the robot from remote PC

First run navigation package from Host PC.

$ roslaunch omoros host_r1mini_navigation.launch

Connect to the target board through ssh and launch drive_r1mini with parameter set_ydlidar:=1 set

$ roslaunch omoros drive_r1mini.launch set_ydlidar:=1

Copyright (c) 2019, OMOROBOT Inc.,