ROSbasic

The goal of this project is to develop preseason software technologies based on ROS. This project will explorer development paths and verify new technologies before more permanent hardware development. Key areas of testing are cameras, vector drive, controllers, and PID algortihms. Additionally new workflows/integration tactics are to be tested and documented (Travis CI, Docker, node documentation, doxygen). This project will expire at the beginning of the 2018-2019 robotics season.

Release

Master

Development

Release Page and Feature Addition Form

All latest releases will be posted on the release page. There is also a feature addition form on this page so you can submit a feature that you want to be in the next release. Please only add the feature if it is complete and in development.

Getting Started

These instructions will get you a copy of the project up and running on your local machine for development and testing purposes. See deployment for notes on how to deploy the project on the main ROV system (Master).

FOLLOW:

• https://docs.google.com/document/d/1tYhxP1HbuTF7Nzl1WnGgJKkUe-KNsBEhQZDjsyUwQTU/edit

Always run IDE's from terminal if on Ubuntu (just type the name of the IDE in terminal and click enter ex. clion)

Launching/Running

Follow Test Bench Setup Steps if Running on Test Bench

• https://docs.google.com/document/d/1srYgNUE4k3DVHkUv1TwUJawfUWw6kGkveDhAvulWMZ0/edit#heading=h.wyzbdb7zgifi

Locally:

• https://docs.google.com/document/d/16LQRhCJBEe_hL-SV67Vvk3oH7I2nqO0X7NjB1t-9Mtg/edit#heading=h.v4rl9rent2ka

Prerequisites

What things you should to install to develop and run software and how to install them

Code Blocks IDE on rpi ubuntu mate

• sudo apt-get install codeblocks

On the RPI turn on the CSI, SPI, I2C, and UART interfaces using sudo raspi-config

Setup the I2C interface on Ubutnu Mate

• sudo apt-get install python-smbus
• cd /boot/config.txt
• uncomment dtparam=i2c_arm=off and change to dtparam=i2c_arm=on
• uncomment dtparam=i2c_arm_baudrate=100000 and change to dtparam=i2c_arm_baudrate=400000
• restart pi

Setup the ros_lib file for arduino serial

• See sketchbook README.md documentation

RPI Camera node setup

• See raspicam_node README.md documentation

Turn RPI Safemode OFF

• Type cd /boot on the bottomside RPI
• Type sudo nano config.txt
• Type CTRL + W and then search for avoid_safe and hit enter
• Go to the bottom of the section and uncomment avoid_safemode=1
• Type CTRL + X and then Y to exit

Network Setup

What things you need to do so that the ROS network operates properly

On ubuntu 16.04 go to Network Connections app and add a new ethernet connection (name the connection ROVEthernetConnection)

• On the topside computer have a static (manual) IP of 192.168.1.100, netmask 24, Gateway 92.168.1.1, DNS server 27.0.1.1, 8.8.8.8, 192.168.1.1
• On the bottomside computer have a static (manual) IP of 192.168.1.111, netmask 24, Gateway 192.168.1.1, DNS server 127.0.1.1, 8.8.8.8, 192.168.1.1
• Run the setupROSNetwork.sh script in the scripts folder

Once the network connection has been verified (on bottomside ping master / on topside ping bottomside)

• Run sshSetup.sh in the scripts folder
• Do not add any paraphrases
• on bottomside ssh master / on topside ssh bottomside
• Make sure both work without entering a password

Network Setup DEBUG

• IF you recieve /usr/bin/ssh-copy-id: ERROR: ssh: connect to host bottomside port 22: Connection refused go to the opposite machine from the one you recieved it on and run the following:

  • sudo rm /etc/ssh/sshd_config
  • sudo apt-get purge openssh-server
  • sudo apt-get install openssh-server
  • ./sshSetup.sh

• If topside and bottomside aren't communicating do the following:

  • ping 192.168.1.100 from bottomside, and 192.168.1.111 from topside (If they don't communicate, make sure all the hardware is setup correctly. Also check your virtual machine network settings, and make sure it is briding to the network (directly connected to physical network and replicating physical connection state)

Other usefull links for common problems:

• https://superuser.com/questions/421004/how-to-fix-warning-about-ecdsa-host-key
• https://askubuntu.com/questions/762541/ubuntu-16-04-ssh-sign-and-send-pubkey-signing-failed-agent-refused-operation
• https://answers.ros.org/question/41446/a-is-not-in-your-ssh-known_hosts-file/

Installing OS

A step by step series of examples that tell you how to get a development env running

On your Raspberry Pi 3B make sure you are running ubuntu mate 16.04 (image here https://drive.google.com/open?id=1497jupJ2dBQqy_o_x5JBPTjY3lto7-rI)

• cat /etc/os-release

Setup Topside Peripheral Communication

• run sudo usermod -a -G dialout $USER to give proper permissions to USB interface programs (similar to sudo chmod a+rw /dev/tty...)

Simulation Setup

• See https://uuvsimulator.github.io/installation.html#creating-and-configuring-a-workspace
• Check to see if gazebo version 7 is installed gazebo --version
• Run sudo apt-get update and sudo apt-get upgrade
• In the ros_workspace run git submodule init and git submodule update
• In ros_workspace run rosdep install --from-paths src --ignore-src --rosdistro=kinetic -y
• Run sudo apt-get install protobuf-compiler protobuf-c-compiler
• Connect a powerfull computer to the ROS Master by running export ROS_MASTER_URI=http://ip_to_master:11311 and export ROS_IP=ip_of_computer
  • Make sure the master and simulation computers can ping each other and if network problems persist make sure the computers can ssh into each other
• Run catkin_make
  • If you receive this error make[2]: *** No rule to make target '/home/michael/catkin_ws/src/uuv_simulator/uuv_gazebo_plugins/uuv_gazebo_plugins/PROTOBUF_PROTOC_EXECUTABLE-NOTFOUND', needed by 'uuv_simulator/uuv_gazebo_plugins uuv_gazebo_plugins/Double.pb.cc'. Stop. CMakeFiles/Makefile2:4699: recipe for target 'uuv_simulator/uuv_gazebo_plugins/uuv_gazebo_plugins/CMakeFiles/uuv_gazebo_plugins_msgs.dir/all' failed then remove the /build /devel and /install folders with rm -R and retry steps 1 - 8
• catkin_make install <- May not be needed (check on next install)
• source devel/setup.bash
• roslaunch rov_description full_systems_launch.launch or roslaunch rov_description partial_systems_launch.launch and roslaunch simulate_rov.launch on another machine
• rosrun rov_description simulation_interface.py

Bottomside Build Instructions

• When building bottomside with catkin_make, type the command catkin_make -DCATKIN_WHITELIST_PACKAGES="vector_drive;hardware_interface;raspicam_node;drq1250;ms5837;sensor_readout"

Intel Realsense Setup instructions

Ubuntu

• Follow the driver installation instructions: https://github.com/intel-ros/realsense
• Test using roslaunch realsense2_camera rs_camera.launch

Note: The resolution of the realsense camera should always run at 1280x720 for the D415 and 848x480 for the D435

RP 3B+

• Follow the driver installation instructions: https://github.com/IntelRealSense/librealsense/blob/master/doc/RaspberryPi3.md
  • https://github.com/IntelRealSense/librealsense/blob/development/doc/installation.md
• cd ros_workspace
• git submodule init
• git submodule update
• catkin_make
• Test using roslaunch realsense2_camera rs_camera.launch
• Run on the rov by launching the rov_control file

Built With

• Robotics Operating System - The web framework used
• Travis CI - Continious integration

Authors

• Michael Equi - Initial work
• Andrew Grindstaff - Finishing work

See also the list of contributors who participated in this project.

Acknowledgments

• README Tempalte source https://gist.github.com/PurpleBooth/109311bb0361f32d87a2
• Inspiration
• etc

v2.18