MiniSLAM Setup, Operation, and Configuration Short Description The MiniSLAM robot is an development platform designed to demonstrate the capabilities of SLAM algorithms paired with autonomous waypoint navigation.
MiniSLAM Contents Setup ............................................................................................................................................................................. 3 SYSTEM REQUIREMENTS ................................................................................................................................................ 3 FIRST TIME SETUP ...............................................................................................................................
MiniSLAM Setup This platform is built on the Robot Operating System (ROS). To get everything up and running, knowledge of ROS and basic Linux functions is a requirement. Generally, wiki.ros.org is an excellent source of information full of tutorials/guides for both beginners and advanced users. If you’re just getting started with ROS, it is highly recommended to complete the beginner level tutorials.
MiniSLAM Launching Follow these steps to begin operation: 1. Power on the robot and connect to the on-board router (SSID: MiniSLAM). Once the LIDAR starts spinning, the robot boot process has finished. This usually takes around 30 seconds. 2. Launch the ROS joystick driver and RViz using launch_ui.sh located in the MiniSLAM_UI directory.
MiniSLAM Gamepad Controls BACK START Enable Manual Mode Enable Autonomous Navigation Mode Turn Drive NOTE: Other X input gamepads should be compatible if a Linux device name can be assigned. Once in autonomous navigation mode, RViz is used to send waypoint goals. To send waypoint goals: 1. Select 2D Nav Goal. 2. Draw a waypoint by clicking and dragging a pose arrow on the map that consists of both position and orientation. SuperDroid Robots, Inc 224 Technology Park Lane Fuquay Varina, NC 27526 www.
MiniSLAM Please take note of the following while in autonomous navigation mode: • • • • • • Avoid setting waypoints on or very close to obstacles. If there are no possible paths to a waypoint due to obstruction, the robot will abandon the current goal and await new commands. If waypoints are sent while in manual mode, the robot will proceed with path planning but won’t act until it enters autonomous navigation mode. Waypoints can be drawn in unexplored areas of the map.
MiniSLAM o Published by hector_mapping • Global Costmap o Map of inflated static obstacles used for global path planning o Published by move_base • Local Costmap o Map of inflated static and dynamic obstacles used for local path planning SuperDroid Robots, Inc 224 Technology Park Lane Fuquay Varina, NC 27526 www.SuperDroidRobots.com Contact (919) 557-9162 SDR@SDRobots.
MiniSLAM o • Published by move_base Global Path o Calculated path to the goal using global costmap data o Published by move_base SuperDroid Robots, Inc 224 Technology Park Lane Fuquay Varina, NC 27526 www.SuperDroidRobots.com Contact (919) 557-9162 SDR@SDRobots.
MiniSLAM • Local Path o Calculated path to the edge of the rolling window using local costmap data o Published by move_base Additional Feedback Output from every ROS topic is accessible through the command line without having to ssh into the BeagleBone. To do so, open a terminal, source the network configuration using the correct network device, and execute the echo command: source /path/to/MiniSLAM_UI/init_network.
MiniSLAM The graph above shows all active topic advertisements and subscriptions during runtime. Any of these can be echoed to view the corresponding ROS messages. In addition, the following topics are inactive but can be useful: • • /roboteq_driver/batt o Should be monitored from time to time for robot battery voltage readings. If the readings are consistently in the 22 Volt range, power off the robot and charge the batteries. /roboteq_driver/encoders o Raw encoder values.
MiniSLAM The password is temppwd. Node Parameters Almost every node has parameters that can be changed without the need to rebuild. Below is a table of nodes, their parameter locations, and a reference for parameter descriptions: ROS Node roboteq_driver ydlidar_node hector_mapping move_base Parameter File Path (~/ = /home/ubuntu/) ~/mini_slam_bot/launch/mini_slam.lau nch ~/mini_slam_bot/launch/mini_slam.lau nch ~/mini_slam_bot/launch/mini_slam.lau nch ~/mini_slam_bot/launch/navigation/m ove_base.
MiniSLAM 3. Edit the CMakeLists.txt to detail how you want your package built and add information to package.xml. These files will be located one level below the package directory. DO NOT edit the CMakeLists.txt located in the catkin_ws/src/ directory. 4. To compile a package and install: cd /home/ubuntu/mini_slam_bot/catkin_ws/ ./catkin_install.bash A couple of notes: • • You only need to complete step 4 when editing a package.
MiniSLAM General Terms 1. SuperDroid Robots, Inc is not responsible for special incidental or consequential damages resulting from any warranty or under any legal theory, including, but not limited to lost profits, downtime, goodwill, damage to, or replacement equipment or property, or any cost of recovering, reprogramming, or reproducing any data stored. ANY LIABILITY SHALL BE LIMITED TO REPLACEMENT OF DEFECTIVE PARTS. SuperDroid Robots, Inc.
