Considering Usability in an Automatic Signal Measuring System

環境建置

遠端環境

參照文件: https://hackmd.io/@fIvDDI_pQbyc2cx_Nu-cgw/HyaeFkHL9

ROS安裝

參照官方文件: http://wiki.ros.org/Installation/Ubuntu

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt install curl
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
sudo apt update
sudo apt install ros-noetic-desktop-full

echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
source ~/.bashrc

Source install

# create a catkin workspace
mkdir -p ~/{catkin_ws}/src
cd ~/{catkin_ws}/src/

# clone into the catkin workspace
git clone https://github.com/AILab121/OOSE.git

# use rosdep to install all dependencies (including ROS itself)
sudo apt-get update -qq
sudo apt-get install -qq -y python-rosdep
sudo rosdep init
rosdep update
rosdep install --from-paths ./ -i -y --rosdistro noetic

# build all packages in the catkin workspace
source /opt/ros/noetic/setup.bash
catkin_init_workspace
cd ~/catkin_ws
catkin_make -DCMAKE_BUILD_TYPE=RelWithDebugInfo

source ~/catkin_ws/devel/setup.bash

Gazebo demo(existing map)

# gazebo:
roslaunch mir_gazebo mir_maze_world.launch

• click the "start" button in the Gazebo GUI

# localization:
roslaunch mir_navigation amcl.launch

# navigation:
roslaunch mir_navigation start_planner.launch \
    map_file:=$(rospack find mir_gazebo)/maps/map.yaml
rviz -d $(rospack find mir_navigation)/rviz/navigation.rviz

Gazebo demo(mapping)

# gazebo:
roslaunch mir_gazebo mir_maze_world.launch

• click the "start" button in the Gazebo GUI

# mapping:
roslaunch mir_navigation hector_mapping.launch

# navigation:
roslaunch mir_navigation move_base.xml with_virtual_walls:=false
rviz -d $(rospack find mir_navigation)/rviz/navigation.rviz

# save map:
rosrun map_server map_saver -f /home/ailab/new_robot_ws/src/mir_robot/mir_gazebo/maps/test

Adjustment parameters

• /move_base_node/DWBLocalPlanner
• max_speed_xy can control speed

rosrun rqt_reconfigure rqt_reconfigure

Connect the joystick

roslaunch robot5g teleop_joy.launch

Complete Coverage Path Planning

• You need to create the map first

roslaunch path_coverage path_coverage.launch

- 根據是在運行模擬或是實體改變script/path_coverage_node.py之啟用行數;67為模擬用;68為實體用

• Click Publish Point at the top of RViz
• Click a single corner of n corners of the region
• Repeat for n times. After that you'll see a polygon with n corners
• The position of the final point should be close to the first
• When the closing point is detected the robot starts to cover the area

Signal heat map

• You need to pay attention to the robot_width in path_coverage.launch and the size of map2darray in heatmap.py
• Need to change the speed to 0.2

rosrun signal heatmap.py 

Running the driver on the real robot

Start up the robot

• switch on Mir
• connect to its wifi
• open mir.com

Start the ROS driver

roslaunch mir_driver mir.launch
roslaunch mir_navigation costmap.xml
rviz -d $(rospack find mir_navigation)/rviz/navigation.rviz