🤖 ORION Commons

🌟 Overview

This repository contains teh bringup and start up of the ORION robot. Before using this package, do not forget to upload the codes on the two ESP32 on orion_base

📝 License

The source code is released under a BSD 3-Clause license.

Author: Daniel Felipe López Escobar.

The ORION Commons packages have been tested under ROS Jazzy distribution.

📝 Udev rules set up

As we are using multiple USB devices which may change of port or even the USB devices may be different, for example, depending on your cameras selection. This is the reason we require to implement udev rules.

General considerations

Begin by connecting each device (only one at a time) and reading its attributes:

ls /dev | grep USB
# With the USB device found use
udevadm info --name=/dev/ttyUSB0 --attribute-walk

A good start is to focus on the attributes like idVendor, idProduct, serial and product. If you do not find them, you can use grep.

udevadm info --name=/dev/ttyUSB0 --attribute-walk | grep idVendor

In case you note the attributes selected repeat with others, search for others. And as last resource, you can use environmental attributes, like the ID_PATH, this is not always recommended as if the connections change it will be different later.

udevadm info --name=/dev/ttyUSB0 --attribute-walk | grep ID_PATH

Once you have decided the attributes and elements, you can create a file for these rules and add the content:

sudo nano /etc/udev/rules.d/99-usb-serial.rules

# Inside of the rules file
SUBSYSTEM=="tty", ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="ea60", ATTRS{serial}=="0001", SYMLINK+="ttyESP32_1"

A demo file you can use to replicate your rules is example_udev.rules:

SUBSYSTEM=="tty", ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="ea60", ATTRS{serial}=="0001", SYMLINK+="ttyLD19"
SUBSYSTEM=="tty", ENV{ID_PATH}=="platform-fd500000.pcie-pci-0000:01:00.0-usb-0:1.3.1:1.0", SYMLINK+="ttyESP32_1"
SUBSYSTEM=="tty", ENV{ID_PATH}=="platform-fd500000.pcie-pci-0000:01:00.0-usb-0:1.3.3:1.0", SYMLINK+="ttyESP32_2"
SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6010", ATTRS{serial}=="202206 DB225C", SYMLINK+="ttyA010"
SUBSYSTEM=="usb", ATTR{idProduct}=="0402", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astra_s"

Comments based on components

LD19: Its rules were based on the ldrobot-lidar-ros2 package of Myzhar. This apply for the youyeetoo LD19 LIDAR and worked on 3 different LIDARs. However, do not forget to validate the attributes.
ORBBEC Astra S: Its rules were taken from depth_orbbec_astra repository.
MaixSense A010: when connecting this device, you may notice it gives two USB devices, one for the device itself and another one for debugging, keep this in mind when using the rules as you may get a duplicated device.
OS30A: As a note, you do not need a rules for the OS30A, as it is configured to use its serial in the launch files for the camera.
ESP32: As there are two ESP32 and there is a high probability you bought the two ESP32 from the same batch, they may end with the same attributes. That is the reason, you should prefer a environmental attribute like the ID_PATH to distinguish both devices.

Also make sure that the ESP32 of the first floor is the one with the name /dev/ttyESP32_1 and the one in the fourth floor is the /dev/ttyESP32_2, as the PlatformIO and µ-ROS programs will use this ports by default.

For more information on the ESP32 and the udev rules, check orion_base.

🚀 Launch files

bringup.launch.py

The bringup.launch.py file will take charge of initializing the robot on the Raspberry PI, so it can load the description, camera drivers, controllers and µ-ROS nodes so the robot have full functionalities. It can be added to a startup service to be ready.

# Basic usage:
# ros2 launch orion_bringup bringup.launch.py
# Additional arguments:
#   camera : Can be 'astra_s', 'a010' or 'os30a'.
#   g_mov : Boolean (true/false) to use g_mov module when using 'a010' depth cam.
#   rasp : Whether to use 'rpi4' or 'rpi5', this will imply a change in the sound hardware.
#   servo : Boolean (true/false) to indicate if use servo arms
#   ros2_control : Boolean (true/false) to indicate usage of ros2_controllers
#   simplified : Boolean (true/false) to indicate if use the simplified URDF model
#   ctl_type: Control type can be 'micro-ros' or 'serial'.
#   motor : Motor rpms to select your motor params (for now, '100' or '1000')
ros2 launch orion_bringup bringup.launch.py camera:=a010

🚀 Setup of bringup on Startup

You can enable the robots bringup launch in order to start as the Raspberry Pi is being initialized, for this case, we will use services and actions for systemd.

📋 Prerequisites

Ubuntu/Linux-based OS installed on the Raspberry Pi (tested with Ubuntu 24.04).
ROS2 Jazzy installed and sourced correctly.
ROS2 workspace (e.g., ros2_ws) built and sourced.
Devices are connected this includes the two ESP32, your selected camera (OS30A, A010, ASTRA_S), the LIDAR LD19, speakers and microphone.
You have set up the udev rules.

📁 File Structure

Ensure you have the following elements:

You have a valid ROS 2 workspace:
```
cd ~/ros2_ws/src
```

Add the content of the startup_robot.sh to your local bin directory:

sudo nano /usr/local/bin/startup_robot.sh

Do not forget to check that the script works before proceeding:

#!/bin/bash
set -e

G_MOV="true"        # Options: true, false
CAMERA_TYPE="a010"  # Options: a010, astra_s, os30a
echo "Selected camera: $CAMERA_TYPE"

echo "Waiting for internet connection..."
while ! ping -c 1 8.8.8.8 &>/dev/null; do sleep 1; done
echo "Internet connection established."

for DEV in /dev/ttyESP32_1 /dev/ttyESP32_2 /dev/ttyLD19; do
    echo "Waiting for $DEV..."
    while [ ! -e "$DEV" ]; do sleep 1; done
    echo "$DEV found."
done

if [ "$CAMERA_TYPE" == "a010" ]; then
    while [ ! -e /dev/ttyA010 ]; do sleep 1; done
    echo "/dev/ttyA010 is available."
elif [ "$CAMERA_TYPE" == "astra_s" ]; then
    while ! lsusb | grep -i "astra_s" &>/dev/null; do sleep 1; done
    echo "Astra S USB device found."
fi

echo "Sourcing ROS2 and workspace..."
source /opt/ros/jazzy/setup.bash
source ~/ros2_ws/install/setup.bash

echo "Launching ORION bringup..."
ros2 launch orion_bringup bringup.launch.py camera:=$CAMERA_TYPE g_mov:=$G_MOV

Add the service startup_robot.service to the systemd directory:

sudo nano /etc/systemd/system/startup_robot.service

The content to consider is shown below, do not add comments to this file and do not forget to change the paths depending on your user.

[Unit]
Description=Startup ROS2 Bringup Service
After=network-online.target
Wants=network-online.target

[Service]
ExecStart=/usr/local/bin/startup_robot.sh
User=orion
Environment=HOME=/home/orion
WorkingDirectory=/home/orion
Restart=on-failure
StandardOutput=journal
StandardError=journal

[Install]
WantedBy=multi-user.target

🛠️ Step-by-Step Setup

Give permission to the startup script:
```
sudo chmod +x /usr/local/bin/startup_robot.sh
```
Do not forget to update the script if your user, camera type, or device names change.

Reload systemd and Enable the startup robot service

sudo systemctl daemon-reexec
sudo systemctl daemon-reload
sudo systemctl enable startup_robot.service

To start it immediately without rebooting:

sudo systemctl start startup_robot.service

Verify the Service Status (do this after launching it manually and at the robot startup)
```
systemctl status startup_robot.service
```

View Service Logs and check everything is ok:

journalctl -u startup_robot.service

For real-time logs:

journalctl -u startup_robot.service -f

🧪 Testing the Setup

Reboot the Raspberry Pi:
```
sudo reboot
```

Confirm the service starts correctly using:

systemctl status startup_robot.service

or by checking logs:

journalctl -u startup_robot.service -b

Also, open a terminal inside the Pi, and review the topics:

ros2 topic list
# It should display the description, control and µ-ROS topics

⚠️ Troubleshooting

Astra S compilation

The Astra S Camera Package may have problems compiling on RPi 4 with 4 GB of RAM or less, so by default the Astra S options have been disabled on the bringup.launch.py, CMakeLists.txt and package.xml. So, check the comments and enable the options if you want to use the Astra S camera.

Startup service not loading

This may occur for the next reasons:

The robot isn't connected to the internet, make sure to have a valid network for the ROS 2 communication
One (or several) of the USB devices (ESP32, cameras or LIDAR) isn't connected and the startup service is waiting for the connection.
The USB devices permissions didn't work, check them with:
```
ls -al /dev | grep USB
```
Use chmod on the device that no longer has read/write permissions.
```
sudo chmod 777 /dev/ttyLD19
sudo chmod 666 /dev/ttyUSB0
```
Also, do not forget to add the user to the dialout.

Robot is not moving

This may be caused if the µ-ROS nodes didn't activate on time or the connection with the agent wasn't possible. For this, just reboot the ESP32 by taking out the respective walls.

For more information check orion_base

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🤖 ORION Commons

🌟 Overview

📝 License

📚 Table of Contents

📝 Udev rules set up

General considerations

Comments based on components

🚀 Launch files

bringup.launch.py

🚀 Setup of bringup on Startup

📋 Prerequisites

📁 File Structure

🛠️ Step-by-Step Setup

🧪 Testing the Setup

⚠️ Troubleshooting

Astra S compilation

Startup service not loading

Robot is not moving

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README.md

Latest commit

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README.md

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🤖 ORION Commons

🌟 Overview

📝 License

📚 Table of Contents

📝 Udev rules set up

General considerations

Comments based on components

🚀 Launch files

bringup.launch.py

🚀 Setup of bringup on Startup

📋 Prerequisites

📁 File Structure

🛠️ Step-by-Step Setup

🧪 Testing the Setup

⚠️ Troubleshooting

Astra S compilation

Startup service not loading

Robot is not moving