ROS2_Reward_Dispenser

A ROS2 node that communicates with a microcontroller running the 'Serial-Relay' code. Part of the Delta task workspace.

Installation

Make sure ROS2 Galactic or a newer ROS2 distribution is installed on your PC, as well as Python >=3.8, and the Arduino IDE

You will need to install some python packages using pip if the dependencies aren't already met:

pip install pyserial bluetooth asyncio

You may need 3 additional libraries to run the sketch with the weight sensing and LED matrix display: MD_Parola, MD_MAX72XX, and Queuetue HX711 Library. These libraries can be installed using the built-in Library Manager from the Tools > Manage Libraries menu:

Queuetue HX711
MD_MAX27XX
MD_Parola

Clone the repository in your ros workspace, build with colcon, finally source

cd /path/to/ros/workspace/src
git clone https://github.com/Neuro-Mechatronics-Interfaces/ROS2_Reward_Dispenser.git src/ros2_reward_dispenser
colcon build --packages-select reward_dispenser

For Windows 10 source using call install/local_setup.bat
For UBuntu use source install/setup.bash

Use the Arduino IDE to flash the accompanied serial_relay_scale_LEMatrix.ino script onto the microcontroller.

Device Permissions

Device permissions may also need to be set up if interfacing with a USB device for the first time. Add the user to the dialout and tty groups:

sudo usermod -a -G dialout your-username
sudo usermod -a -G tty your-username
sudo chmod a+rw /dev/ttyACM*

If using the ROS2 node, note the COM port assigned to it for the config file.

Quick Start

To quickly run the node, enter the following command in the terminal:

ros2 run reward_dispenser node

The default serial port is set to /dev/ttyACM0 but is also a configurable parameter. To define a specific port or baudrate, pass it as an argument:

ros2 run reward_dispenser node --ros-args -p port:=/dev/ttyACM0 -p baud:=9600

The parameters can also be defined using the provided example .yaml file and passed as an argument:

ros2 run reward_dispenser node --params-file ~/ros2_ws/src/ros2_reward_dispenser/reward_dispenser/config/reward.yaml

The reward dispener node is monitoring a topic called manual_dispense which will send a 200ms dispense command whenever a new boolean value is published to it.

Troubleshooting

If you get the ImportError: You must be root to use this library on linux error message issue, you may need to run the node with admin privilidges. Adding the current user to sudo is an option that should fix it, another option is to create device rules:

pip install git+https://github.com/boppreh/keyboard.git#egg=keyboard
sudo usermod -a -G tty,input $USER
sudo chmod +0666 /dev/uinput
echo 'KERNEL=="uinput", TAG+="uaccess""' > /etc/udev/rules.d/50-uinput.rules
echo 'SUBSYSTEM=="input", MODE="0666" GROUP="plugdev"' > /etc/udev/rules.d/12-input.rules
echo 'SUBSYSTEM=="misc", MODE="0666" GROUP="plugdev"' >> /etc/udev/rules.d/12-input.rules
echo 'SUBSYSTEM=="tty", MODE="0666" GROUP="plugdev"' >> /etc/udev/rules.d/12-input.rules
loginctl terminate-user $USER

If you get an error message relating to the user not being in the input group, run the following command to add user to the required group.

sudo usermod -a -G input USERNAME

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