ROS2 Library Project

Components for ROS2 Library Project

Documentation

Documentation is available under doc folder:

• ros2: documentation of components written for ROS2 (humble version)
• usecase: some sequence diagrams to depict the relation of components
• doxygen: components documented using doxygen (https://www.doxygen.nl/).

The doxygen documentation can be compiled in /doc/doxygen folder, using

doxygen doc/Doxyfile 

It can be viewed using /doc/doxygen/html/index.html

TL;DR

Dependencies

To run this application and bash scripts included, you should use a UNIX operating system: we suggest Ubuntu 22.04 Jammy for best integration with ROS2 Humble.

ROS 2

ROS 2 installation guide

ROS 2 DDS tuning

# in ubuntu, before you should enable multiverse repository

# Build deps
apt install python3-colcon-common-extensions python3-vcstool python3-rosdep ros-humble-irobot-create-msgs

# Cyclone DDS
apt install ros-humble-cyclonedds ros-humble-rmw-cyclonedds-cpp

Add to your .bashrc file the cyclone config file (you should fix the path according to your project path):

# set $LIBRARY_PROJECT_PATH according with your installation
export LIBRARY_PROJECT_PATH=XXXXXXX
export CYCLONEDDS_URI=$LIBRARY_PROJECT_PATH/config/cyclone-dds-interface-select-laptop.xml
export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:$LIBRARY_PROJECT_PATH

Source file ~/.bashrc:

source ~/.bashrc

You should now run install script to build all ROS2 components:

cd PoC
./install.sh

The script will list the components that need to be compiled to run, enter the folders and follow compilation instructions.

FCPP

Install prerequisites on:

• PoC/AP_Engine/fcpp/README.md
• and install following dependencies:

sudo apt-get install clang libstdc++-12-dev

Run

To launch a simulation execute from the root of the repository:

Simulation

You can use enable or disable automatic dock after reaching goal.
$DOCK can be 0 (disable), 1 (enable).

./PoC/rumbo_run.sh dock_enabled:=$DOCK

AP Engine

To compile and execute the AP engine with library use case, you should:

• follow instructions on /PoC/AP_Engine/README.MD
• or run on a new terminal window (but with logs deleted after each round):

cd PoC/AP_Engine
./ap_run.sh

You can also pass as first argument (true or false) to clean build directory, as below:

cd PoC/AP_Engine
./ap_run.sh true

Network partition

If you want to simulate a network partition, you can:

• Run gazebo (see specific README)
• Run AP with custom configuration to reduce communication range instead of "default" script described before:

./ap_run_network_partition.sh

• Create a goal for shelf n°7:

cd Storage
./create_goal.sh "0.2; 5.0; -1.57"

Use case

Library

To create a new goal with X=$POS_X, Y=$POS_Y, YAW=$ORIENT (all coordinates are float values), you can run:

cd Storage
./create_goal.sh "$POS_X;$POS_Y;$ORIENT"

example:

./create_goal.sh "1.0;2.0;3.14"

Abort a goal

To abort a current with ID=$GOAL_CODE, you can run:

cd Storage
./create_abort.sh $GOAL_CODE

example:

./create_abort.sh GOAL-123456789

Out of order of a robot

If you want to simulate a robot failure, you can run this script:

### Out of order robot
# $ROBOT_NAME can be tb3_1, tb3_2 etc...
./out_of_order.sh $ROBOT_NAME

Library world

The world is a simulated library. The shelfs can be located at:

Bookshelf	Position
ID 8	"0.2; 5.5; 1.57"
ID 7	"0.2; 5.0; -1.57"
ID 6	"0.2; 4.1; 1.57"
ID 5	"0.2; 3.5; -1.57"
ID 4	"0.2; 2.5; 1.57"
ID 3	"0.2; 2.0; -1.57"
ID 2	"0.2; 1.0; 1.57"
ID 1	"0.2; 0.3; -1.57"