scale_truck_control_ros2

ROS2 based scale_truck_control system

Develop History

2024.02.03

Implemented dual ROI version for normal and lane-changing modes

- Added distinction between normal mode and lane change mode using two versions of ROI.
- Established lane change process: CMD -> FV2 lane change command -> FV2 lane change complete -> CMD -> FV1 lane change command -> FV1 lane change complete -> CMD -> LV lane change command -> LV lane change complete -> CMD.
- Implemented controller button toggle upon completion of lane change.
- Lane change of Scale truck platooning system for RSS 2024.
- Developed from 'Cyclops: Open Platform for Scale Truck Platooning'.

I. Hardware

High-level Controller - NVIDIA Jetson AGX Orin 64GB
Low-level Controller  - OpenCR 1.0 (ARM Cortex-M7)
two USB Camera        - ELP-USBFHD04H-BL180
Lidar                 - RPLidar A3 & S2

II. Software

Hige-level Controller

Jetpack : 5.1.1 version - Ubuntu 20.04 focal
OpenCV  : 4.4.0 version - include options (GPU, CUDA, CUDNN)
ROS 2   : galactic version

Low-level Controller

ros2 libarary

0. Set OpenCV 4.4.0

If your device is laptop, click below link and install Opencv 4.4.0.

https://velog.io/@minukiki/Ubuntu-20.04%EC%97%90-OpenCV-4.4.0-%EC%84%A4%EC%B9%98

• Uninstall old version of OpenCV

sudo apt-get purge  libopencv* python-opencv
# sudo apt-get autoremove
sudo find /usr/local/ -name "*opencv*" -exec rm -i {} \;

• Install 4.4.0 version of OpenCV

sudo apt-get update
sudo apt-get upgrade

sudo apt-get -y install build-essential cmake
sudo apt-get -y install pkg-config
sudo apt-get -y install libjpeg-dev libtiff5-dev libpng-dev
sudo apt-get -y install ffmpeg libavcodec-dev libavformat-dev libswscale-dev libxvidcore-dev libx264-dev libxine2-dev
sudo apt-get -y install libv4l-dev v4l-utils
sudo apt-get -y install libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev 
sudo apt-get -y install libgtk-3-dev
sudo apt-get -y install mesa-utils libgl1-mesa-dri libgtkgl2.0-dev libgtkglext1-dev
sudo apt-get -y install libatlas-base-dev gfortran libeigen3-dev
sudo apt-get -y install python3-dev python3-numpy

• Download OpenCV 4.4.0 source file

mkdir OpenCV && cd OpenCV
git clone -b 4.4.0 https://github.com/opencv/opencv
git clone -b 4.4.0 https://github.com/opencv/opencv_contrib
cd opencv && mkdir build && cd build

• Build OpenCV 4.4.0

cmake -D CMAKE_BUILD_TYPE=RELEASE \
-D CMAKE_INSTALL_PREFIX=/usr/local \
-D OPENCV_EXTRA_MODULES_PATH=../../opencv_contrib/modules \
-D WITH_OPENCL=OFF \
-D WITH_CUDA=ON \
-D CUDA_ARCH_BIN=8.7 \
-D CUDA_ARCH_PTX="" \
-D WITH_CUDNN=ON \
-D WITH_CUBLAS=ON \
-D ENABLE_FAST_MATH=ON \
-D CUDA_FAST_MATH=ON \
-D OPENCV_DNN_CUDA=ON \
-D ENABLE_NEON=ON \
-D WITH_QT=OFF \
-D WITH_OPENMP=ON \
-D WITH_OPENGL=ON \
-D BUILD_TIFF=ON \
-D WITH_FFMPEG=ON \
-D WITH_GSTREAMER=ON \
-D WITH_TBB=ON \
-D BUILD_TBB=ON \
-D BUILD_TESTS=OFF \
-D WITH_V4L=ON \
-D WITH_LIBV4L=ON \
-D OPENCV_ENABLE_NONFREE=ON \
-D INSTALL_C_EXAMPLES=OFF \
-D INSTALL_PYTHON_EXAMPLES=OFF \
-D BUILD_NEW_PYTHON_SUPPORT=ON \
-D BUILD_opencv_python3=TRUE \
-D OPENCV_GENERATE_PKGCONFIG=ON \
-D BUILD_EXAMPLES=OFF \
..

sudo make install -j12

• Jetson Stats

sudo apt-get install python3-pip
sudo -H pip3 install jetson-stats
jetson_release

1. Install ROS2 (Galactic)

https://docs.ros.org/en/galactic/Installation/Ubuntu-Install-Debians.html

Set locale

locale  # check for UTF-8

sudo apt update && sudo apt install locales
sudo locale-gen en_US en_US.UTF-8
sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
export LANG=en_US.UTF-8

locale  # verify settings

Setup Sources

sudo apt install software-properties-common
sudo add-apt-repository universe

#Now add the ROS 2 GPG key with apt.
sudo apt update && sudo apt install curl
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg

#Then add the repository to your sources list.
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null

Install ROS2 galactic

sudo apt update
sudo apt upgrade
sudo apt install ros-galactic-desktop

colcon install

sudo apt install python3-colcon-common-extensions

Environment setup

# Replace ".bash" with your shell if you're not using bash
# Possible values are: setup.bash, setup.sh, setup.zsh
source /opt/ros/galactic/setup.bash
mkdir -p ~/ros2_ws/src

2. Install vision_opencv, cv_bridge

• Create libopencv_imgproc.so.4.4.0
• No --allow-overriding 'packages'

cd ~/ros2_ws/src
git clone -b galactic https://github.com/ros-perception/vision_opencv.git

cd vision_opencv/cv_bridge
vim CMakeLists.txt

# fix the below
--find_package(OpenCV 4 QUIET
++find_package(OpenCV 4.4 QUIET

cd ~/ros2_ws
colcon build --symlink-install && . install/setup.bash
#Then move package to other directory
cd ~/ros2_ws/src
mv vision_opencv ~/

3. Install Micro-ros-Aruduino

On your ros2 workspace

source /opt/ros/galactic/setup.bash
cd ~/ros2_ws/src 
git clone https://github.com/micro-ROS/micro_ros_setup.git -b galactic

• rosdep으로 의존 패키지 업데이트

sudo apt update && rosdep update
cd ~/ros2_ws
rosdep install --from-paths src --ignore-src -y

• micro-ROS tools 과 소스 빌드

cd ~/ros2_ws
colcon build --packages-select micro_ros_setup
source install/local_setup.bash

• micro-ROS agent 패키지 설치

cd ~/ros2_ws
ros2 run micro_ros_setup create_agent_ws.sh
ros2 run micro_ros_setup build_agent.sh
source install/local_setup.bash

• Test

sudo chmod 777 /dev/ttyACM0
ros2 run micro_ros_agent micro_ros_agent serial --dev /dev/ttyACM0

4. Install ROS2 Packages

• ros2_msg

cd ~/ros2_ws/src
git clone https://github.com/AveesLab/ros2_msg.git
cd ~/ros2_ws && colcon build --symlink-install && . install/setup.bash

• usb_cam

sudo apt-get install ros-galactic-usb-cam
cd ~/ros2_ws/src
git clone https://github.com/ros-drivers/usb_cam.git -b ros2

• rplidar_ros2

cd ~/ros2_ws/src
git clone https://github.com/CarlDegio/rplidar_ros.git -b ros2

• laser_filter

sudo apt-get install ros-galactic-filters
sudo apt-get install ros-galactic-angles
sudo apt-get install ros-galactic-laser-geometry
sudo ln -s /usr/include/eigen3/Eigen  /usr/include/Eigen
cd ~/ros2_ws/src
git clone https://github.com/wonseokkkk/laser_filters.git

• object_detection

sudo apt-get install ros-galactic-perception-pcl
cd ~/ros2_ws/src
git clone https://github.com/AveesLab/object_detection_ros2.git

• lane_detection

cd ~/ros2_ws/src
git clone https://github.com/AveesLab/lane_detection_ros2.git

• yolo_object_detection_ros2

cd ~/ros2_ws/src
git clone https://github.com/AveesLab/yolo_object_detection_ros2.git
cd yolo_object_detection_ros2/darknet
make -j12

• scale_truck_control_ros2

cd ~/ros2_ws/src
git clone https://github.com/AveesLab/scale_truck_control_ros2.git

5. Run

• LV(Leading Vehicle) rosbag file download (onedrive-2.66GB)

LV rosbag file download

• FV(Following Vehicle) rosbag file download (onedrive-2.71GB)

FV rosbag file download

• Rosbag run

ros2 bag play -l [rosbag file name].bag

• Ros launch

ros2 launch scale_truck_control_ros2 [launch file name].py

alias command Setup

sudo vim ~/.bashrc

• add the below

alias cw='cd ~/ros2_ws/src'
alias cb='source ~/ros2_ws/install/setup.bash'
alias sb='source ~/.bashrc'
alias cm='cd ~/ros2_ws && colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Debug && . install/setup.bash'
alias eb='sudo vim ~/.bashrc'

source ~/.bashrc

build ROS2 packages

cm