robotino-driver

This Git repository contains an extensive set of code files designed for the Robotino driver using ROS2 middleware.

Drive Motor Control: Enables the control of Robotino's drive motors utilizing omniwheel drive kinematics and implementing inverse and forward kinematic models.

Battery Management: Provides mechanisms for managing the Robotino's battery, ensuring optimal usage and monitoring.

Odometry: Estimating the current position and orientation of a robot by analyzing data from its sensors, typically wheel encoders.

Sensor Interfaces:

• Gyroscope: Interfaces for reading data from the gyroscope sensor, providing information on orientation and rotation.
• Camera (Realsense): Interfaces for integrating and utilizing the camera module (Realsense) with Robotino.
• Analog Input and Output Array: Interfaces for handling analog input and output signals, facilitating interaction with external devices.
• Digital Input and Output Array: Interfaces for managing digital input and output signals, useful for interacting with various sensors and actuators.
• Bumper Sensors: Interfaces for reading data from bumper sensors, enabling collision detection and avoidance.
• Laser Range Finder(hokuyo): Interface for the laser range finder sensor, used for detecting obstacles and mapping the environment.

Encouraging collaboration and contributions, the repository aims to serve as a reliable resource for researchers, developers, and enthusiasts in the fields of robotics and simulation. Regular updates ensure compatibility with evolving dependencies, making it a sustainable and valuable tool for the robotics community.

Table of content

• Installation
  • Dependencies
  • Installation from source
• Building
• Launch robotino driver - Bringup
• Launch robotino driver - Standalone
• Contributing to this repo
• Research and References
• Bugs and Issues
• Way-forward

Installation

Installing from source:

ATTENTION: These commands assume that you have created a workspace called "robotino_driver_ws" in your home folder. If you used a different directory or name, please adjust the commands accordingly.

Install the below debian packages first(part of the repository):

rec-rpc_1.6.1_amd64.deb
robotino-api2_1.0.0_amd64.deb
robotino-dev_1.0.3_amd64.deb

After installing ROS2 and creating the workspace, clone this repository in your workspace:

cd ~/robotino_driver_ws/src
git clone https://github.com/carologistics/robotino-driver.git

Install the binary dependencies by running the following command in the root of your workspace:

cd ~/robotino_driver_ws
rosdep init
rosdep update

sudo apt update

rosdep install --from-paths src/robotino-driver --ignore-src -r -y --rosdistro humble

If all dependencies are already installed, you should see the message "All required rosdeps installed successfully."

Building:

To build the workspace, run the following command in the root of your workspace:

cd ~/robotino_driver_ws
colcon build --symlink-install

If the build is successful, you should see the message "Finished [build] target(s) in [time]s."

After building the package, open a new terminal and navigate to your workspace. Then, source the overlay by running the following command:

source /opt/ros/humble/setup.bash

Then, source the workspace by running the following command:

cd ~/robotino_driver_ws
source install/setup.bash

Launch robotino driver

Launching robotino driver - Bringup

ros2 launch rto_node robotino_driverbringup.launch.py namespace:=robotinobase1 hostname:=172.26.108.84:12080

• namespace: It's a launch configuration used to spawn the corresponding robotinobase, its controllers, and node parameters
• hostname: It's the IP address of the robotino base and port no. for the process to run. The default IP address is 172.26.1.1:12080

Launching robotino driver - Standalone

ros2 launch rto_node robotino_driver.launch.py namespace:=robotinobase1

• namespace: It's a launch configuration used to spawn the corresponding robotinobase, its controllers, and node parameters
• hostname: It's the IP address of the robotino base and port no. for the process to run. The default IP address is 172.26.1.1:12080

Contributing to this repo

To contribute to this package, you can either open an issue describing the desired subject or develop the feature yourself and submit a pull request to the main branch (in this case, robot_cluster).

Research and References

• Omnidirectional robot kinematics and dynamics: Moreno, J.; Clotet, E.; Lupiañez, R.; Tresanchez, M.; Martínez, D.; Pallejà, T.; Casanovas, J.; Palacín, J. Design, Implementation and Validation of the Three-Wheel Holonomic Motion System of the Assistant Personal Robot (APR). Sensors 2016, 16, 1658. [Google Scholar]

  Jordi Palacín; Elena Rubies; Eduard Clotet; and David Martínez; Evaluation of the Path-Tracking Accuracy of a Three-Wheeled Omnidirectional Mobile Robot Designed as a personal Assistant https://doi.org/10.3390/s21217216

• ROS2

• Navigation2

• rec::robotino::api2 C++ API documentation

Bugs and Issues

Please report bugs and request features using the Issue Tracker