My bot is now working with SLAM, NAV2, and Localization :) #89
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Would love to see pictures and video, if you're comfortable! Also, if you're willing to share your modifications to the files and the robot, I'm sure they would help others. |
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Sure.. Here's the video. I'll post the modifications later this weekend. I'm getting ready to fly R/C aircraft tomorrow, getting the airplanes ready. |
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I'm curious, do have a Create 3 or a TurtleBot 4 Lite? Also, when you refer to the TurtleBot 4 Development environment, are you referring to the TurtleBot 4 metapackage? A link where you got the code would be helpful. Thanks, Jon |
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You will need to install Ubuntu 20.04 on a RPI4.. and install all the Create3 ROS development environment or a NVIDA Jetston board. I am going to post a link to a tarred up archive of my georgebot_ws directory with some READMEs in there. It's still messy, not documented like an official project. I was just coding, testing to see if I can integrate what ClearPath has for Turtlebot4 with the iRobot Create3 platform. It works. I don't have time to document it all yet but I will upload what I have to Google Drive and share the link here. I plan on updating and documenting the code and share it later. At least more of us can see how i have Turtlebot4 NAV2 and Localization working. |
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Here's a link to the work I've done so far. For mapping look at the slammap file in the robotest directory. the three files you want to check out is the README, then robottest/slammap, and robotest/runnav2 This was just a proof of concept, once the code is done the Create3_bringup file will bring up all the processes. my georgebot_ws tar file and the sounds I used to go with it can be found here: https://drive.google.com/drive/folders/1kEQjdcMS6RdoPsGjO7-s7uBUfTDM8p5f?usp=sharing I'm sorry I didn't have time to clean it up further but most of my spare time now is spent on getting my r/c jet, pylon racer , and bi-plane ready for Friday |
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I was wondering if anyone got a chance to duplicate my work ? I want to be sure I got everything. Also my wife said the dog barking was too creepy. Our dog Allie died last May, she was 16 1/2 years old. So when my daughter in law called and asked if we got a pup yet I said yes we did, his name is George. And that's how Georgebot came to be. It was a goof on my sons (I have three sons). When they came over for a barbeque I had Gerogebot running and barking randomly. I'm changing the code... Sound is going to be similar to my lawn mower bot. I have some decent R2D2 sounds.. no echo, all clean. I may want to think about CPU cooling. The iRobot Chinese embedded controller runs hot, also the FLIRC case with the PI 4 in the Robot Payload area is getting pretty toasty to. Especially when I run OpenCV stuff with the USB camera I have mounted on GeorgeBot. Have a good one everybody. |
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I attempted to download the files, but it wanted me to disable a security feature in Google so I opted out. Perhaps it would be best to put the files in a GitHub repo instead. Also, I still would appreciate you sharing which particular Turtlebot 4 ROS 2 packages you loaded and built on your Raspberry Pi 4; turtlebot4, turtlebot4_robot, so on. I tried to download and build the turtlebot4_robot code but it fails to build. It seems the interface with the Raspberry Pi 4 is different with the Turtlebot 4 vs Create 3 proper, so it would seem there are some packages that will be different between the two. Is this what you found? |
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It's not to disable the security feature, what you are running into is the Google File Scan limit size. It's nothing that I did. If you downloaded my georgebot_ws work envoronment you would see a doc and the apt package list. Here's the package list that contains all the packages installed. Including the tutlebot4 packages. The key to get Create3 and Turtlebot4 code integrated is listed in the Doc.. you will need to edit Turtlebot4 bringup files, bringup sensors and lidar the same as how Steve clearly documented.. only difference you need to read my runnav2 script.. you need change the Create3 example from publishing base_footprint and change it to base_link also .. use fast rds I have my Linux Desktop, Create3 Robot PI4, and the Create 3 controller all networked and communicating in ROS2. It was easy It's all in my archive. I can lean it out later. I prebuilt everything for everyone with a RPI4. Here's the package list. I am running the Ubuntu 20.04 IOT raspberry PI 4 version grep -i ros apt-installed-packages |
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As I stated, I have the Create 3 ROS 2 stuff up and running already. I was just curious as to which particular Turtlebot 4 package(s) you installed, such as turtlebot4, turtlebot4_robot, so on. I'll just figure it out myself. |
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Oh, wait, did you install the turtlebot 4 packages via 'apt' or did you build the code on your Raspberry Pi 4? Building the code seems a bit taxing on the RasPi 4. |
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You know what it's like integrating code right ? The apt list I
included is all the packages I installed via apt. Also... when I
built my georgebot_ws environment I pulled from turtlebot4 stuff from
GIT. That is why I provided my entire georgebot_ws environment
because I'm getting ready for vacation.
Also I noticed that initpose should only be applied once at startup.
No need to perform it multiple times.
When I get back from vacation I will need to come up with a method to
cool down the RPI4 and the Create3 embedded processor. They get hot.
The RPI4 was at 68 degrees C. when I attempt to test my OpenCV
code.The FLIRC case inside the Create3 isn't providing enough cooling.
…On Thu, 2022-06-30 at 00:05 -0700, jomoengineer wrote:
Oh, wait, did you install the turtlebot 4 packages via 'apt' or did
you build the code on your Raspberry Pi 4? Building the code seems a
bit taxing on the RasPi 4.
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Ah, I think I got it now. I'll see about pulling down your code and having a peek at that. With regards to cooling down the RasPi4, I have heatsinks on the major components and placed it in a case with a fan. I would suspect there is a way to get a heatsink and fan on the internal device in the Create 3 but not 100% sure of it though. Perhaps this could be an enhancement to the Create 3. |
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This is awesome @jerrynsr. thanks for sharing! The actual logic that you added to your robot, the
How exactly did you do that? I've been trying to figure out the proper way to create logic like that & i've unfortunately been stuck for awhile |
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Hi jerrynsr, I don't have any experience coding or anything, but I am interested in getting my Create 3 robot to be able to navigate reliably on some autonomous pre-programmed missions, like going from point a to point b and back, numerous times without getting lost. If you have time some time/ don't mind answering some of my questions, what would be the best way to accomplish this? Do I need to download this Nav 2 somehow? Do I need to have the lidar and RGBD camera like the Turtlebot? Do I need a different gyroscope? One of my main issues is that even if I deploy my Create 3 on simple missions like traveling straight forward on a relatively flat, smooth floor, turning 180, traveling back, and doing a 180, after about 10-15 runs, it is not going straight at all anymore, and often crashes into something and takes off in a random direction, which is obviously problematic when trying to get it to run numerous preprogrammed missions, like I am. I am willing to try to do whatever to get this to work, but I am no expert when it comes to coding or robotics, so if you have any ideas, simple explanations will be a great help to me. Thanks! |
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I've been on vacation and outdoors most of the time. So sorry for the long wait. If you just have wheel encoders for dead reckoning you will need to dock often. I use the SLAMTEC A1 RPLIDAR connected to a RPI4. https://drive.google.com/drive/folders/1kEQjdcMS6RdoPsGjO7-s7uBUfTDM8p5f?usp=sharing It's my first attempt to merge irobot create3 with turtlebot4. NAV2 works. |
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So, what the turtlebot 4 does is more complicated than just adding an RPLIDAR A1 LIDAR sensor and connecting it to a Raspberry Pi 4? I rather doubt I would ever go on missions longer than 30 minutes, or if I would it wouldn't likely be soon. But you're talking about using the charger more to "calibrate" the robot's navigation, right? I ordered the A1 LIDAR and have found a place to buy an 8 GB Raspberry Pi, despite the ongoing shortage.
The main thing I am trying to do with my Create 3 is that I want to get the robot's movement to be accurate enough that I can get it to run an indefinite number of missions and return to the same charger after each one. I am hoping that the LIDAR sensor and Raspberry Pi will help make the Create 3 accurate enough to do this. I will probably look into (downloading?) the NAV 2 program after I get the LIDAR/Pi installed. Do you have any other advice for achieving this mission?
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From: Jerry Normandin ***@***.***>
Sent: Tuesday, July 19, 2022 2:12 PM
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Cc: Farris, Noah T ***@***.***>; Comment ***@***.***>
Subject: Re: [iRobotEducation/create3_docs] My bot is now working with SLAM, NAV2, and Localization :) (Discussion #89)
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I've been on vacation and outdoors most of the time. So sorry for the long wait.
If you just have wheel encoders for dead reckoning you will need to dock often. I use the SLAMTEC A1 RPLIDAR connected to a RPI4.
The SLAMTEC is cheap and it's real good. I still dock because there's an added benefit of charging. But I dock the bot every 30 minutes or so. There's an excellent guide that Steve posted in the Create3 examples section. Get that going first, experiment with mapping your house. Once you are comfortable with that you can download this:
https://drive.google.com/drive/folders/1kEQjdcMS6RdoPsGjO7-s7uBUfTDM8p5f?usp=sharing<https://nam11.safelinks.protection.outlook.com/?url=https%3A%2F%2Fdrive.google.com%2Fdrive%2Ffolders%2F1kEQjdcMS6RdoPsGjO7-s7uBUfTDM8p5f%3Fusp%3Dsharing&data=05%7C01%7Cnoah.farris%40siu.edu%7C56f9a630a735481a8f2c08da69baaf44%7Cd57a98e7744d43f9bc9108de1ff3710d%7C0%7C0%7C637938547770456458%7CUnknown%7CTWFpbGZsb3d8eyJWIjoiMC4wLjAwMDAiLCJQIjoiV2luMzIiLCJBTiI6Ik1haWwiLCJXVCI6Mn0%3D%7C3000%7C%7C%7C&sdata=9VbRY9FODu4cR9SSIeDVHUyXiD5DMXtsRqUkJDoOFDs%3D&reserved=0>
It's my first attempt to merge irobot create3 with turtlebot4. NAV2 works.
This Fall I will glue everything together with Python code. Right now my examples use C scripting to trigger ROS2 commands.
It's proof of concept.
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Hi Jerry, |
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@jerrynsr thanks for the props! Here is a link to the docs. |
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As far as Jetson Nano, NVIDIA contributed directions for hooking it up to a Create 3, but it seems like they are running ROS 2 in a container and I've seen varying success at getting it to work. It's definitely doable but I've not done it. Recommend searching on this forum for others who have used a Nano to see their trials and tribulations. When I made the hookup page, I only had a Nano 2GB at my disposal, and NVIDIA contributed directions and files for the Xavier NX. |
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This person in this question #73 (comment) did it |
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Steve documented everything clearly. The documentation is in the
Create3 examples on githubOn Wed, 2022-07-20 at 00:41 -0700, arielc-
brillianetor wrote:
… Hi Jerry,
Do you mind sharing how to physically connect the Lidar to the
raspberry pi and that to the create3?
Thanks a lot for your help,
Ariel
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nice work! |
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I Installed and built the TurtleBot4 Development environment on my RPI 4. I modified the parameter and turtlebot bringup files. My Create3 can now map my house, save the map, and use NAV2 and Localization to navigate with the saved map. I don't need to point/click in rviz2.. I can also send the goal_pose location parameters via command line or Python Script.
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