TRAILBOT README

SETUP GUIDE

Sensor Drivers:

• Clone this repo and dependending repo's

cd ~/ros2_ws/src
git clone https://github.com/TRAILab/TRAILBot.git
git clone https://github.com/TRAILab/velodyne.git
git clone https://github.com/TRAILab/ximea-driver.git
cd ximea-driver
./tools/install_sdk.sh
cd ../..

Seperate Installations and Configurations:

Follow the husky setup readme for nav and control installations here:

• Link to Husky and Nav README Follow the build and package setup for the voice_assistant here:
• Link to Voice Assistant README Follow the build and testing setup for the human_detection here (build only if following example fully):
• Link to Human Detection README Follow the download and build instructions for the FSM here:
• Link to FSM README Follow the name setup for the arduino here:
• Link to Arduino README

Build Everything Together After Dependencies are Installed (Everything is good as long as the build doesn't fail):

cd ~/ros2_ws
colcon build --symlink-install

Source before launching

. install/setup.bash

Different Launch Options for TRAILBOT

There are 4 different launch modes you can choose to use:

• Make sure that the husky is turned on and everything is plugged in when doing so!

1. Driving only mode:

ros2 launch trailbot_bringup driving.launch.py

2. SLAM/CARTO only mode:

ros2 launch trailbot_bringup slam_2D.launch.py
OR
ros2 launch trailbot_bringup slam_3D.launch.py

3. Navigation only mode:

ros2 launch trailbot_bringup nav_2D.launch.py
OR
ros2 launch trailbot_bringup nav_3D.launch.py

3. Full TRAILBOT (snack delivery) mode:

ros2 launch trailbot_bringup demo1.launch

Aliases that can be used

• (follow setup here: Alias Creation)

Command	Usage
bot	Runs the full trailbot package (snack delivery)
slam_2D	Runs TRAILbot only using slam with 2D carto
slam_3D	Runs TRAILbot only using navigation with 3D carto
nav_2D	Runs TRAILbot only using navigation with 2D carto
nav_3D	Runs TRAILbot only using navigation with 3D carto
drive	Run when only wanting to drive/move TRAILbot
save_map	Use to save the map created by cartographer (requires directory ~/ros2_ws/saved_maps)
run_agent	Runs micro ros agent, use for running arduino
run_s*	Used to run different servo motors (* should be replaced with a number from 1-4)
voice	Runs voice assistant for snacks
query	Run to use querying with voice assistant

CONTROLLER INSTRUCTIONS

After launching you can now use the controller to move the husky as well as using navigation in RVIZ

• Navigation in RVIZ can be used to move the robot using 2D Nav Goal Teleop configuration for Logitech F710 Gamepad using the x-pad configuration.
• Left thumb-stick up/down for velocity, left/right for twist
• LB for enable
• RB for enable-turbo

        (LB)                                 (RB)
        (LT)                                 (RT)
      _=====_            D(  .)X            _=====_
     / _____ \                             / _____ \
   +.-'_____'-.---------------------------.-'_____'-.+
  /   |     |  '.                       .'  |      |   \
 / ___| /|\ |___ \ (back)(Lgtc)(strt)  / ___| (Y)  |___ \
/ |      |      | ;  __           __  ; |              | |
| | <---   ---> | | (__) .       (__) | | (X)       (B)| |
| |___   |   ___| ; MODE         VIBE ; |___       ____| /
|\    | \|/ |    /  _     ___      _   \    | (A) |    /|
| \   |_____|  .','" "', |___|  ,'" "', '.  |_____|  .' |
|  '-.______.-' /       \ANALOG/       \  '-._____.-'   |
|               |  LJ   |------|   RJ  |                |
|              /\       /      \       /\               |
|             /  '.___.'        '.___.'  \              |
|            /                            \             |
 \          /                              \           /
  \________/                                \_________/
BUTTON         Value
  LB             4
  RB             5
  A              0
  B              1
  X              2
  Y              3
   AXIS        Value
Left Horiz.      0
Left Vert.       1
Right Horiz.     3
Right Vert.      4
Left Trigger     2
Right Trigger    5
D-pad Horiz.     6
D-pad Vert.      7