H.A.R.P

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Launching the Robot

Real Robot

To launch the real robot (publishing motor commands on the /topic_based_joint_commands topic) by publishing velocity commands on the /omnidirectional_controller/cmd_vel_unstamped topic:

Navigation should remap /cmd_vel to this topic during deployment (requires real hardware: not tested yet).

ros2 launch robot_bringup robot_nav_bringup.launch.py use_TopicBasedSystem_hardware_interface:=True

use_TopicBasedSystem_hardware_interface:=True implies that it is no longer Gazebo with ros2_control (gazebo_ros2_control/GazeboSystem) responsible for providing the joint state, but topic_based_ros2_control/TopicBasedSystem, and therefore, no simulation is launched in this case.

Simulation

To launch the simulation:

ros2 launch robot_bringup robot_nav_bringup.launch.py use_TopicBasedSystem_hardware_interface:=False

With use_TopicBasedSystem_hardware_interface:=False, the simulation is launched.

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• Launching AMCL with a specific map:

 ros2 launch nav2_bringup localization_launch.py map:=<path_to_yaml_file_of_your_map>

• Launching micro_ros_agent on the device ttyACM0:

 ros2 run micro_ros_agent micro_ros_agent serial --dev /dev/ttyACM0

Install

After cloning the repos in your workspace

cd ~/ros2_ws
rosdep init
rosdep update
sudo apt update

#install omnidirectional_controllers dependencies
rosdep install --from-paths src/HARP2/omnidirectional_controllers --ignore-src -r -y --rosdistro humble

#install YDLidar-SDK dependencies
mkdir ~/ros2_ws/src/HARP2/ydlidar/YDLidar-SDK/build
cd ~/ros2_ws/src/HARP2/ydlidar/YDLidar-SDK/build
cmake ..
make
sudo make install

#install xacro
sudo apt install ros-humble-xacro

#install joint-state-publisher
sudo apt install ros-humble-joint-state-publisher ros-humble-joint-state-publisher-gui

#install gazebo11
cd ~
git clone https://github.com/osrf/gazebo.git -b gazebo11
cd gazebo
mkdir build && cd build
cmake ..
make -j$(nproc)
sudo make install
#you may have to install third party dependencies
#https://classic.gazebosim.org/tutorials?tut=install_from_source

#install tf2-geometry-msgs
sudo apt install ros-humble-tf2-geometry-msgs
#install nav-msgs
sudo apt install ros-humble-nav-msgs
#install std-srvs
sudo apt install ros-humble-std-srvs

#install gazebo_ros_pkgs
cd ~/ros2_ws/src
git clone -b ros2 https://github.com/ros-simulation/gazebo_ros_pkgs.git

#install gazebo_ros2_control
cd ~/ros2_ws/src
git clone -b humble git@github.com:ros-controls/gazebo_ros2_control.git

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

#install slam-toolbox
sudo apt install ros-humble-slam-toolbox

#install uros
mkdir ~/ros2_ws/src/uros
cd ~/ros2_ws/src/uros
git clone -b humble git@github.com:micro-ROS/micro-ROS-Agent.git
git clone -b humble git@github.com:micro-ROS/micro_ros_msgs.git

#install ros2_controll
sudo apt install ros-humble-ros2-control ros-humble-ros2-controllers

#install robot-localization
sudo apt install ros-humble-robot-localization

#install moveit2 (optional)
sudo apt install ros-humble-moveit

#install topic_based (optional)
sudo apt install ros-humble-topic-base-ros2-control

#remove brltty to be able to conect in usb with the bus linker of the lx16a
sudo apt remove brltty

Important Notes on Deployment

• The lidar simulation in robot_description/urdf/lidar/lidar.xacro is in "gpu_ray" and needs to be modified to "ray" in the absence of gpu on the deployment hardware.

• The YDLidar X4 and the YDLidar TminiPlus share the same unique device attributes and therefore do not have a unique udev rule for the hardware and must depend on the USB port they are plugged into.