File size: 4,393 Bytes
ffb2434 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 | Requirements: Have ubuntu 22.04 Have ssh keys set up Gaming controller (ex: xbox,ps, etc.) Instructions to Set up RDD2 drone with SLAM and nav2 capability Step 1 install Cognipilot (*make sure you have ssh key set up on this device prior to install) sudo apt-get update sudo apt-get install git wget -y mkdir -p ~/cognipilot/installer wget -O ~/cognipilot/installer/install_cognipilot.sh https://raw.githubusercontent.com/cognipilot/helmet/main/install/install_cognipilot.sh chmod a+x ~/cognipilot/installer/install_cognipilot.sh /bin/bash ~/cognipilot/installer/install_cognipilot.sh When prompted: 1) airy 2) brave 3) main Enter a CogniPilot release (number) to use: 2 Using CogniPilot main development branch. 1) native 2) navqplus Enter a CogniPilot installer type (number) to use: 1 Clone repositories with git using already setup github ssh keys [y/n]? y Source your bashrc when finished installing as prompted source ~/.bashrc Step 2 Build the cognipilot workspace The previous step should have created a bin directory in the directory you installed cognipilot in. go to the bin directory then run build_workspace cd ~/bin ./build_workspace When prompted: Clone repositories with git using already setup github ssh keys [y/n]? y Using git with ssh, best for developers. 1) b3rb 2) rdd2 Enter a platform (number) to build: 2 Source your bashrc when finished installing as prompted source ~/.bashrc *if you get an error rerun once or twice it sometimes times out when building especially the first time Step 3 add resources needed for competition Add map world file Download this file https://github.com/ksommerkohrt/dream_world/blob/main/worlds/maze.sdf Copy the file and move it to the worlds directory (this can also be done in the file explorer as well) cd ~/Downloads mv maze.sdf ~/cognipilot/cranium/src/dream_world/worlds Go to cranium directory and build changes so the new world file is recognized cd ~/cognipilot/cranium colcon build --symlink-install Replace nav2 yaml file (optional)* *the yaml file above uses the rotation shim controller and has slowed down the drone to make it a bit more realistic but this solution still is not 100% successful The original yaml file is the default yaml file for a rover as such it presumes the drone can brake quickly like a wheeled vehicle and often hits walls You can start from either yaml file and tune a feasible solution either by using plugins discussed here: https://docs.nav2.org/plugins/index.html?highlight=plugin Or you could also develop your own plugins. The process involved in doing so is described here https://docs.nav2.org/plugin_tutorials/index.html Download this file https://github.com/ksommerkohrt/rdd2/blob/main/rdd2_nav2/config/nav2.yaml Copy the file and move it to the config directory (this can also be done in the file explorer) cd ~/Downloads mv nav2.yaml ~/cognipilot/cranium/src/rdd2/rdd2_nav2/config Step 4 run the simulation in the maze world cd ~/cognipilot/ws/cerebri git pull rm -rf install west update west build -t install ros2 launch rdd2_gz_bringup sil.launch.py electrode:=true world:=maze Step 5 set up drone to accept nav2 goals Press green triangle (ps) or y button (xbox) to put the drone in cmd_vel mode Press right bumper to put the the drone in offboard mode Press right trigger to arm the drone How to set up autonomous exploration* git clone git@github.com:ksommerkohrt/frontier_exploration_maze.git cd ~/frontier_exploration_maze colcon build After you launch the robot and prepare it to accept nav2 goals in one terminal open another and run: source install/setup.bash ros2 launch frontier_exploration classical_exploration.launch.py *If this fails and says there are no remaining frontiers part of the way through the maze sometimes rerunning it will allow the robot to exit the maze How to create map Once your robot has completed the maze in a new terminal run: ros2 run nav2_map_server map_saver_cli -f ~/cognipilot/cranium/src/rdd2/rdd2_nav2/maps/maze How to load your map and use it to navigate: Go to cranium directory and build changes so the new world file is recognized cd ~/cognipilot/cranium colcon build --symlink-install cd ~/cognipilot/ws/cerebri git pull rm -rf install west update west build -t install ros2 launch rdd2_gz_bringup sil.launch.py nav2:=true localization:=localization rviz:=true world:=maze |