etile9998 / omo_r1mini

OMOROBOT R1mini PRO

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This project is about ROS Package for OMOROBOT's R1mini mobile robot platform.

Overview

다음은 R1mini Pro 대표 이미지 이며 다음 페이지에서 구매하실 수 있습니다.

Below image represents R1mini PRO which can be purchased from here.

한글 튜토리얼은 오모로봇 공식 홈페이지의 e메뉴얼을 참고하세요. https://omorobot.com/e-manual/

For English version tutorial, please refer to below gitbook page. https://kairosiann.gitbook.io/r1mini/

Installation

This package assumes you are running nvidia's Jetson nano board as ROBOT which comes with R1mini PRO pakcage.
If you have installed Jetson nano yourself and setup from scratch, please download our Jetson nano image file jetson_210720.img and flash into 32gb micro sdcard.
You can use etcher for flashing image to sdcard.

This image comes with following setup

• Jetpack 4.4
• ROS-melodic
• Catkin workspace is located in ~/catkin_ws
• Default sudo password is "1" or "omorobot"

Once you flash installed Jetson nano, just login with default password and try to git pull this project by

$ cd ~/catkin_ws/src/omo_r1mini
$ git pull

Additional packages

Below pacakges are maybe required run this package and are located in ROBOT's catkin_ws/src folder

• https://github.com/YDLIDAR/ydlidar_ros to run ydlidar
• https://github.com/PinkWink/darknet_ros for running YOLO v3
• https://github.com/Tossy0423/yolov4-for-darknet_ros for running YOLO v4

Dependency

In order to run all the packages included in this project, you may need to install additional ROS packages as below.

sudo apt-get install ros-melodic-tf ros-melodic-joy \
ros-melodic-teleop-twist-joy \
ros-melodic-teleop-twist-keyboard \
ros-melodic-laser-proc ros-melodic-rgbd-launch \
ros-melodic-depthimage-to-laserscan \
ros-melodic-rosserial-arduino ros-melodic-rosserial-python \
ros-melodic-rosserial-server ros-melodic-rosserial-client \
ros-melodic-rosserial-msgs ros-melodic-amcl \
ros-melodic-map-server ros-melodic-move-base \
ros-melodic-urdf ros-melodic-xacro ros-melodic-usb-cam \
ros-melodic-compressed-image-transport \
ros-melodic-rqt-image-view ros-melodic-gmapping \
ros-melodic-navigation ros-melodic-interactive-markers \
ros-melodic-ar-track-alvar ros-melodic-ar-track-alvar-msgs \
ros-melodic-cartographer-ros

Running the Robot

To simply run the robot to control with teleop keyboard command, enter below while roscore is running in the HOST PC

$ roslaunch omo_r1mini_bringup omo_r1mini_bringup.launch
$ roslaunch omo_r1mini_teleop omo_r1mini_teleop_key.launch

This allows you to move the robot simply by keyboard input as

• W: Move FWD (Increase lin_vel.x)
• A: Turn Left (Increase rot_vel.z)
• S: Stop (Reset lin_vel.x, rot_vel.z)
• D: Turn Right (Decrease rot_vel.z)
• X: Move REV (Decrease lin_vel.x)

SLAM Mapping

Mapping using Gmapping

omo_r1mini_slam package uses gmapping for SLAM mapping.

To run 2D lidar based SLAM navigation, simply launch below in ROBOT.

$ roslaunch omo_r1mini_bringup omo_r1mini_robot.launch
$ roslaunch omo_r1mini_slam omo_r1mini_slam.launch

Launch below in HOST PC to open rviz environment to make map.

$ roslaunch omo_r1mini_slam omo_r1mini_slam_rviz.launch
$ roslaunch omo_r1mini_teleop omo_r1mini_teleop_key.launch

Move the robot using keyboard input (W: FWD, A: Left, D: Right, X: REV) and the map will be expanded as it go.

Mapping using Cartographer ROS

Cartographer generate maps smoother and more precise compare to gmapping and support for various type of sensors such as Depth camera or 3D lidar.

More information can be found its website.

https://google-cartographer-ros.readthedocs.io/en/latest/

To run cartographer-ros, simply launch below in ROBOT.

$ roslaunch omo_r1mini_bringup omo_r1mini_robot.launch
$ roslaunch omo_r1mini_cartographer omo_r1mini_cartographer.launch

Launch below in HOST PC to run rviz environment and robot control.

$ roslaunch omo_r1mini_cartographer omo_r1mini_cartographer_rviz.launch
$ roslaunch omo_r1mini_teleop omo_r1mini_teleop_key.launch

Save map file

Once map is fully generated, run map_server to save <name_of_map>.yaml and <name_of_map>.pgm files as below.

$ rosrun map_server map_saver -f <name_of_map>

Terminate all nodes and copy these files and place into ROBOT's ~/catkin_ws/src/omo_r1mini/omo_r1mini_navigation/maps

SLAM Navigation

To start SLAM navigation launch below in ROBOT.

$ roslaunch omo_r1mini_bringup omo_r1mini_robot.launch
$ roslaunch omo_r1mini_navigation omo_r1mini_navigation.launch

Then launch below in HOST PC to open the robot in rviz environment.

$ roslaunch omo_r1mini_navigation omo_r1mini_navigation_rviz.launch

Place the robot in the map by selecting green arrow(2D Pose Estimate) in the top menu and pick(Location) and drag(direction) where the robot likely to be and its direction in the map.

Now place a goal by selecting Pink arrow(2D Nav Goal) in the top menu and pick(Goal location) and drag(Goal direction) where the robot should go in the map.

Wait until the robot reaches the goal!

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OMOROBOT INC