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NAV_workspace_2023

Warning: the code is not finish and have compilation error

Organisation of the repository

The repository is organized as followed:

Structure

  • The sensors directory contains the camera, lidar (ouster package) and imu packages that extract the data from the sensors and publish ROS2 topics of type: PointCloud2 for the lidar, Image and/or Pointcloud2 for the camera and IMU for the IMU. The imu package was created last year by the electronics team.
  • The localization directory contains the code for the lidar (LIOSAM) and camera localization separately.
  • The obstacle_detection directory contains the code for the lidar and camera obstacle detection separately.
  • The path_planning directory contains the nav2 code that creates global and local costmaps and generates a path to the goal. A controller publishes velocity commands (type Twist) to follow the path.
  • The wheels_control directory contains all the code for the manual and autonomous kinematics of the wheels and the control of the motors.

Set/reset lidar connection

If lidar is connected to eth0

sudo ip addr flush dev eth0
sudo ip link set eth0 down
sudo ip addr show dev eth0 # need to see ...state DOWN...
sudo ip addr add 10.5.5.1/24 dev eth0
sudo ip link set eth0 up
sudo ip addr show eth0
sudo dnsmasq -C /dev/null -kd -F 10.5.5.50,10.5.5.100 -i eth0 --bind-dynamic

If lidar is connected to eth1

sudo ip addr flush dev eth1
sudo ip link set eth1 down
sudo ip addr show dev eth1 # need to see ...state DOWN...
sudo ip addr add 10.5.5.1/24 dev eth1
sudo ip link set eth1 up
sudo ip addr show eth1
sudo dnsmasq -C /dev/null -kd -F 10.5.5.50,10.5.5.100 -i eth1 --bind-dynamic

Lidar stuff

QUICK CHECK LIDAR WORKED

http://os-122140001125.local

######## LE DEBUT DE TOUTES CHOSES 2

Usefull lidar commands

nmcli connection show avahi-browse -arlt ping 10.5.5.87 ping 10.5.5.1 pinglidar(ping os-122140001125.local) nc os-122140001125.local

LINUX usefull commands

usefull linux commands sudo dmesg -w usb-devices lsusb

ROS2

source /opt/ros/foxy/setup.bash source install/setup.bash colcon build --packages-select ros2 daemon stop # to stop ros2 if strange behavior ros2 daemon start # to start ros2

lidar ipv4

sudo ip addr add 10.5.5.1/24 dev mtu 1500

Motor Control

The motor control is implemented as a Lifecycle node (see Lifecycle node ROS). To test it alone, you can use the following commands.

  • ros2 launch wheels_control wheels_control.launch.py to launch the wheels control package
  • ros2 lifecycle set /NAV_motor_cmds configure to start the motors
  • ros2 lifecycle set /NAV_motor_cmds cleanup to stop the motors