sichitong / accr

This project is developed by Human Robotics Lab at the University of Melbourne based on Ubuntu 20.04 Focal Fossa and ROS Noetic. If you have any questions, feel free to contact me: [email protected]

Automatic Conveyor Cleaning Robot (ACCR)

This project is developed by Human Robotics Lab at the University of Melbourne based on Ubuntu 20.04 Focal Fossa (Kernel Version: 5.11.0-27-generic) and ROS Noetic. If you have any questions, feel free to contact me: [email protected]

Instructions:

1. ROS Installation

ROS installation instructions can be found here. We recommend the ros-noetic-desktop-full.

NOTE: As ROS has revoked the old GPG key, you may meet the following error during the ROS installation:

Err:1 http://packages.ros.org/ros/ubuntu <YOUR_UBUNTU_VERSION>/main amd64 <SOME_ROS_PKG> amd64 0.13.3-0xenial-20190320-132757-0800

or,

W: GPG error: http://packages.ros.org <YOUR_UBUNTU_VERSION> InRelease: The following signatures couldn't be verified because the public key is not available: NO_PUBKEY 5523BAEEB01FA116

To resolve this, you need to run the following code to remove the old key:

$ sudo apt-key del 421C365BD9FF1F717815A3895523BAEEB01FA116

And then, import the new key:

$ sudo -E apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

At this point, make sure to run $ sudo apt clean && sudo apt update. You should receive no errors and subsequent $ sudo apt install commands should also now work.

Optional (Recommanded)

You can use the following code to make your ROS environment working globally.

$ echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc

In this case, in the following steps, you can always ignore the following code.

$ source /opt/ros/noetic/setup.bash

This makes your life easier, as you don't need to include this line every time when you use a ROS command in a new terminal.

If you want to remove this global setting from your device, simply go to Home, and then press Ctrl + H to show all hidden files, then open the .bashrc file and delete the following line:

source /opt/ros/noetic/setup.bash

2. Packages Installation

Install necessary dependency packages (some of them may be no longer required):

$ source /opt/ros/noetic/setup.bash
$ sudo apt-get install -y ros-noetic-joy ros-noetic-teleop-twist-joy ros-noetic-teleop-twist-keyboard ros-noetic-laser-proc ros-noetic-rgbd-launch ros-noetic-depthimage-to-laserscan ros-noetic-rosserial-arduino ros-noetic-rosserial-python ros-noetic-rosserial-server ros-noetic-rosserial-client ros-noetic-rosserial-msgs ros-noetic-amcl ros-noetic-map-server ros-noetic-move-base ros-noetic-urdf ros-noetic-xacro  ros-noetic-compressed-image-transport ros-noetic-rqt-image-view ros-noetic-gmapping ros-noetic-interactive-markers ros-noetic-arbotix ros-noetic-geometry2 ros-noetic-joint-state-controller ros-noetic-effort-controllers ros-noetic-position-controllers ros-noetic-ddynamic-reconfigure ros-$ROS_DISTRO-realsense2-camera python3-catkin-pkg
$ sudo apt-get update && sudo apt-get upgrade && sudo apt-get dist-upgrade
$ sudo apt install catkin
$ sudo apt update && sudo apt upgrade

3. catkin_make

As long as the package is under some child directory of src, catkin can detect it automatically. The next step is then to build the system.

$ source /opt/ros/noetic/setup.bash
$ cd <yourpath>/ACCR
$ catkin_make

4. Save the test site to the simulation

$ cd <yourpath>/ACCR
$ source devel/setup.bash
$ roslaunch test_site_gazebo gazebo.launch

Once the Gazebo is running, on your left hand, find and click <Models> - <test_site_gazebo>. At the bottom, click <pose>, change <x>,<y>,<z>,<pitch>,<yaw> to 0. But keep <roll> value as whatever it is. After you complete these steps, save the world to

$ <yourpath>/ACCR/src/mbot_gazebo/mbot_simulations/worlds/test_site_gazebo.world

5. Register your Path and shell

$ cd <yourpath>/ACCR
$ sudo chmod +x RUN.sh
$ cd <yourpath>/ACCR/src/mbot_gazebo/mbot/mbot_description/scripts/
$ sudo chmod +x demo_path.py

6. Test your project

$ cd <yourpath>/ACCR
$ ./RUN.sh

TODO

At this beginning level, we still have a lot of works that need to be done. Here are some short-term goals:

Code structure:

• Isolate ROS controller from simulations, and allow users to choose to run both (to test in simulation) or the ROS controller only (to test on the robot).

Simulation:

• Rebuild the map, and set the corner to the origin, which makes all coordinates in the map be positive numbers. Solved in v1 ❗
• Rewrite the robot description files to resolve some issues:
  • Enable the bucket joint and allow it to be lifted up or dropped down in the simulation environment. Currently, it is down to the bottom and potentially caused huge friction.
  • Modify the robot model, as it has only two wheels in the simulation, which made it has a pitch angle change. This pitch angle change may also cause huge friction when the acceleration changed (especially when slowing down). ✔️
• Potentially change or modify the diff_robot_controller to make it closer to the algorithms used in our real robot.

ROS controller

• Clean up the algorithms used in the current project and remove or mark the irrelevant or unused packages.
• Create a simple decision layer to allow it to decide when to lift up or drop down the bucket (will add more features later: e.g. switch the navigation algorithms between lidar-base and vision-base).
• Develop a communication protocal to send/receive messages to/from STM32 device.
• More features will come later.