RISBOT2

Overview

• risbot2 folder: program for RISBOT2'PC
• risbot2_micro_controller folder: program for micro controller
• risbot2_tools folder: dependent for RISBOT2
• risbot2_docs folder: document for RISBOT2

Hardware

• Jetson Orin NX 16G
• Hokuyo Lidar UST-20LX
• Realsense T265 (x2)
• ZED 2 Stereo Camera
• Livox MID-360
• 7inch screen
• Arduino Uno R3
• Stepping Motor (x2)
• TB6600 Stepper motor driver (x2)

Software

• JetPack 6.1
• ROS2 Humble
• Realsense SDK 2.0 (v2.51.1), build with CUDA

Setup

1. Install dependent RISBOT2 packages

• Install Cartographer:

sudo apt install ros-humble-cartographer
sudo apt install ros-humble-cartographer-ros

• Install Navigation2:

sudo apt install ros-humble-navigation2
sudo apt install ros-humble-nav2-bringup

2. Clone Repository

Clone the RISBot2 using the following commands:

mkdir -p ~/risbot2_ws/src
cd ~/risbot2_ws/src/
git clone https://github.com/TrH-Thang/risbot2.git
sudo apt install python3-colcon-common-extensions
cd ~/risbot2_ws
colcon build
echo 'source ~/risbot2_ws/install/setup.bash' >> ~/.bashrc
echo 'sudo chmod 666 /dev/ttyACM0' >> ~/.bashrc
source ~/.bashrc

3. Arduino Uno R3 setup

Code for Arduino Uno R3: /risbot2_ws/src/risbot2/risbot2_micro_controller/risbot2_arduino_uno.ino

Launch

1. Bringup RISBOT2

Open a terminal and run following command:

ros2 launch risbot2_bringup robot.launch.py

or:

ros2 launch risbot2_bringup robot2.launch.py

2. SLAM RISBOT2

• SLAM with a t265:

ros2 launch risbot2_bringup robot.launch.py
# Open a new terminal and run following command:
ros2 launch risbot2_cartographer cartographer.launch.py

• SLAM with 2 T265s:

ros2 launch risbot2_bringup robot2.launch.py
# Open a new terminal and run following command:
ros2 launch risbot2_cartographer cartographer2.launch.py

• Open a new terminal and run following command to controll RISBOT2:

ros2 run risbot2_teleop teleop_keyboard

3. Navigation RISBOT2

• Navigation with a t265:

ros2 launch risbot2_bringup robot.launch.py
# Open a new terminal and run following command:
ros2 launch risbot2_navigation2 navigation2.launch.py map:=/path/to/map.yaml

• Navigation with 2 t265s:

ros2 launch risbot2_bringup robot2.launch.py
# Open a new terminal and run following command:
ros2 launch risbot2_navigation2 navigation2.launch.py map:=/path/to/map.yaml