robotont_driver

ROS driver package for robotont.

This package handles low-level communication between ROS and robotont hardware.

1. Installing and starting the driver from ROS distro

1. Ensure Your System’s Distribution is Supported. ROS 2 Humble supports Ubuntu 22.04 (Jammy)

2. Install ROS 2 Humble Installing ROS2 Humble

3. Install robotont driver

 sudo apt install ros-humble-robotont-driver 

4. Source install files and start the driver using the launch configuration

source /opt/ros/humble/setup.bash
ros2 launch robotont_driver driver_launch.py

Launch parameters are defined in 3 different places. With the following hierarchy (lower number overwrites higher number):

• 1: The parameters defined in the parameters file
• 2: The parameters specified via command line, when using the launch file
• 3: The parameters hardcoded in the driver code

To change the launch parameters once, they can also be specified via the command line:

ros2 launch robotont_driver driver_launch.py device_name:='/dev/ttyACM0'

2. Installing and starting the driver using source code

1. Ensure Your System’s Distribution is Supported. ROS 2 Humble supports Ubuntu 22.04 (Jammy)

2. Install ROS 2 Humble and create a workspace Creating a workspace

3. Pull driver repo and install ROS dependencies

Navigate to workspace root folder

sudo rosdep init
rosdep update
rosdep install --from-paths src -y --ignore-src

The driver also relies on the following packages:

• 1: io-context
• 2: serial-driver
• 3: asio-cmake-module

sudo apt install ros-humble-io-context ros-humble-serial-driver ros-humble-asio-cmake-module

4. Build the driver

Ensure you are in your workspace root folder and enter the following commands to install them:

colcon build

5. Source install files and start the driver using the launch configuration

source install/local_setup.bash
ros2 launch robotont_driver driver_launch.py

Launch parameters are defined in 3 different places. With the following hierarchy (lower number overwrites higher number):

• 1: The parameters defined in the parameters file
• 2: The parameters specified via command line, when using the launch file
• 3: The parameters hardcoded in the driver code

To change the launch parameters once, they can also be specified via the command line:

ros2 launch robotont_driver driver_launch.py device_name:='/dev/ttyACM0'

3. Moving the robot

The drivers for the simulated and the real robot both subscribe to a cmd_vel topic. To move the robot, we have to publish velocity messages to this exact topic.

Here we use the teleop_twist_keyboard node, which translates command line keypresses to velocity messages and published these by default on cmd_vel topic. Run the node

ros2 run teleop_twist_keyboard teleop_twist_keyboard

• Follow the printout in the console to learn how to control the robot. Enjoy the ride!

4. Available plugins

plugin_odom

This plugin receives the ODOM packet from the robot and publishes the data on /odom (<nav_msgs::Odometry>) topic. This plugin also broadcasts an odom frame via TF.

plugin_motor

This plugin subscribes to cmd_vel topic and relays the velocities to robotont’s motors

Changelog for package robotont_driver

0.1.4 (2024-05-19)

• Changes to parameter handling
• Contributors: Zhven

0.1.2 (2024-03-18)

0.1.1 (2024-03-18)

• Solved build warnings
• Odom fix
• fixed timeout
• added timeout to the fake_driver and descriprion launch to the launch file
• Merge pull request #16 from robotont/humble-devel-raimo Humble devel raimo
• removed redundant dependency
• resolving minor merge conflict from led plugin
• Add license file
• generic commenting
• commented out some code
• Added ledmodule code
• Smalle changes to README
• Reworked logging and odom namespace
• Foundation for led and range plugins
• First implementation of fake_driver
• Added plugin launch arguments
• Launch file + parameters
• Tested and validated current functionality. Added some comments.
• Working odom + cmd_vel
• Functional Odom and TF messages
• Merge branch 'ros2-foxy-devel' into devel-ros2-rolling
• Groundwork for odom plugin layed out
• first attempt at plugins
• Create README.md
• Ubuntu 22 + Ros2 rolling
• First rolling commit
• reverted async_receive_handler; added watchdog timer for serial port monitoring
• Serial reading working without correct error handling.
• End of file error
• Attempted serial echo
• New beginnings; compiling code with working reading from serial
• Changes to packet polling
• Serial data packet passing between nodes is functional
• Serial read improvements
• Merge branch 'ros2-foxy-devel' of https://github.com/robotont/robotont_driver into ros2-foxy-devel
• Incomplete mess
• template with async read working, moved to robotont namespace
• passing node shared pointer to the hardware class, still have to resolve a weak ptr exception due to shared_from_this() being called from constructor
• Subscriber not working
• Reading from serial working
• First working compile
• First successful compile
• First commit. Include errors.
• Initial ROS2 commit
• Merge pull request #13 from robotont/melodic-devel-maarika stopping mechanism
• velocities to 0
• stop
• Merge pull request #12 from robotont/melodic-devel-ns-slash Melodic devel ns slash
• improved comment layout
• ns with slash
• Merge pull request #11 from robotont/melodic-devel-ns Namespaced
• removed instructions about remapping
• Merge branch 'melodic-devel' into melodic-devel-ns
• Merge pull request #9 from robotont/melodic-devel-veiko Travis fix
• turning debug off again
• converted run_depend tags for package format 2
• travis:enable debugging
• removed cmake_modules dependency, package.xml format 2
• changed arg name
• ns
• ns
• driver_basic ns
• ns
• Merge pull request #6 from robotont/melodic-devel-veiko Melodic devel veiko
• travis from .org to .com
• renaming RobotontHW->Hardware and RobotontDriver->Driver
• Merge branch 'melodic-devel' into melodic-devel-veiko
• Merge pull request #5 from robotont/melodic-devel-maarika removed gazebo_driver and gazebo_odom
• removed gazebo_driver and gazebo_odom
• changed loglevel of loading messages and removed text formatting dependency from launch file
• control a single led or the whole segment with a same keyword
• Merge pull request #3 from robotont/melodic-devel-veiko cleaned up deprecated stuff
• improvements based on Karl's review
• frame changed to base_link
• namespaces for android app instructions in README
• minor improvements to README
• specifying rosinstall file in .travis.yml
• moved travis upstream workspace packages to a separate .rosinstall file
• added robotont_msgs to travis script
• added install tags to CmakeLists and removed old .rviz file
• Namespace explanations to readme, added travis
• put fake driver under robotont ns, reusing launch files from robotont_description
• added dependency to robotont_description, fixed a typo in authors name
• restructuring the main README.md, merged stuff from src/README.md and removed it
• Updated authors, maintainers, and other meta info
• Need to specify namespace when running keyboard teleop node with rosrun.
• cleaned up deprecated stuff
• removed deprecated fake_odom.launch
• Merge remote-tracking branch 'origin/melodic-devel-maarika' into melodic-devel-veiko
• Merge remote-tracking branch 'origin/melodic-devel-ranno' and 'origin/melodic-devel-rvalner into melodic-devel-veiko
• removed typo from readme
• removed typo from readme
• modified readme
• changed fake_odom_publisher.ccp -> fake_driver_node.cpp and added fake_driver.launch
• C++ 11 standard added
• Added power supply status plugin
• led module plugin, range plugin
• fixed duplicate iterator increase bug in writePacket function
• modular plugin based architecture - a complete rewrite
• implementation template for RangeSensor
• sensors node
• Merge pull request #2 from robotont/melodic-devel-veiko removed deprecated notification from readme
• removed deprecated notification from readme
• Merge pull request #1 from robotont/ihar fake odom added
• joy is removed
• fake_odom_publisher created
• copy from the old repository
• Initial commit
• Contributors: Ihar Suvorau, M, RValner, Raimo Köidam, Veiko, Veiko Vunder, Veix123, Zhven, kasutaja, kruusamae, m, patsyuk03, peko, rannomspp, sven-ervin.paap