From bfe0bc3554bea6e845c8169ef1562eea1a58dbd1 Mon Sep 17 00:00:00 2001 From: Kazushi Kurasawa Date: Thu, 5 Dec 2024 18:20:23 +0900 Subject: [PATCH] =?UTF-8?q?[Raspberry=20Pi=20Mouse]ROS=202=20Jazzy?= =?UTF-8?q?=E3=81=AE=E3=83=81=E3=83=A5=E3=83=BC=E3=83=88=E3=83=AA=E3=82=A2?= =?UTF-8?q?=E3=83=AB=E3=82=92=E8=BF=BD=E5=8A=A0=20(#40)?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Co-authored-by: YusukeKato --- .../driver/pi_imager_settings_ubuntu_24.png | Bin 0 -> 37294 bytes .../pi_imager_settings_ubuntu_24_64bit.png | Bin 0 -> 93126 bytes docs/raspimouse/driver/install.md | 85 ++++++++++++------ docs/raspimouse/ros/install.md | 46 +++++----- docs/raspimouse/ros/package-install.md | 44 ++++++--- docs/raspimouse/ros/samples.md | 10 ++- docs/raspimouse/simulator/install.md | 61 +++++++++++-- docs/raspimouse/simulator/samples.md | 82 +++++++++++++++-- 8 files changed, 251 insertions(+), 77 deletions(-) create mode 100644 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zCSuJNqMCTGEW9tj3sO3G7s-PlDn)6JJU3L!u=9Ngg&i6K1`9=9o#aDCE1vjhr=_9} zWS@whD=4nd8~|pU?`5^={K5FSnCxhyBs+J#X_R9fS8d>R?fj-y)I|SiGQq+xZ!~t` z(;iuM164$a+=7((BmY1Oss3B_#z=M+3W1Dms}~}moxvwV0o`k_olf3G-|OBDx{9e^ z*0R%LET%P8z!_Cajpx8jb*8nnM+20R)|dk@`vIcj2>d}BWzAY^kQc2h zR~j~=$71AO5&$sspL>9F%#-V2SDWQH$Z>2a)x5L5JE-KehAWiN0^P}y=Y72Qe|T;* zQ`*!sRRl#$yjB1>`y$-opqQH($7IS!I&@@13e%SqNj|t!Yy|GM^;wnubY5`@!ZCfn zN*H4#m}w%?9%16ELO?|Y^Qmx?|I3SZD%N)c+SR8zDy+IN<6!n@!M5gb}6Zc$UxllgG8#FJcs6XiMRRKG{*0xKGw%osY6Atlwt3tV;e7 f{b+F%@mD6XyqP__RX+M8-Q^N{}slq#$g literal 0 HcmV?d00001 diff --git a/docs/raspimouse/driver/install.md b/docs/raspimouse/driver/install.md index da116a7..ee10c54 100644 --- a/docs/raspimouse/driver/install.md +++ b/docs/raspimouse/driver/install.md @@ -27,11 +27,17 @@ Raspberry Pi MouseのLEDやモータを駆動するためには、 ## OSのインストール {: #os-installation} -Raspberry Pi Mouseのデバイスドライバは"Ubuntu"と"Raspberry Pi OS"（旧称"Raspbian"）に対応しています。 +Raspberry Pi Mouseのデバイスドライバは、"Ubuntu"と"Raspberry Pi OS"（旧称"Raspbian"）に対応しています。 +ここではUbuntuとRaspberry Pi OSのインストール手順を紹介します。 -ここではUbuntu（Ubuntu Server 22.04, Ubuntu Server 20.04）と、Raspberry Pi OSのインストール手順を紹介します。 +後ほどRaspberry Pi MouseでROSを扱う場合は、Ubuntuのインストールを推奨します。各種ROSとUbuntuのバージョン対応表は以下の通りです。 + +| ROS | Ubuntu | +| ---- | ---- | +| ROS Noetic | Ubuntu Server 20.04（64bit版） | +| ROS 2 Humble | Ubuntu Server 22.04（64bit版） | +| ROS 2 Jazzy | Ubuntu Server 24.04（64bit版）| -後ほどRaspberry Pi Mouseで**ROSを扱う場合はUbuntu Server 20.04（64bit版）を、ROS 2を扱う場合はUbuntu Server 22.04（64bit版）のインストールを推奨します**。 !!! info 出荷時に付属しているRaspberry Pi OSインストール済みのmicroSDカードを利用する場合は、OSインストール手順を飛ばしてそのまま[ソースファイルのダウンロードとインストール](#driver-installation)に進むことができます。 @@ -41,15 +47,29 @@ Raspberry Pi Mouseのデバイスドライバは"Ubuntu"と"Raspberry Pi OS"（ Raspberry PiやRaspberry Pi Mouse本体を**故障させないように**注意してください。 詳細はRaspberry Pi Mouseの**[製品マニュアル](https://rt-net.jp/products/raspberrypimousev3/#downloads)を参照してください**。 +=== "Ubuntu Server 24.04" + 1. [https://www.raspberrypi.org/software/](https://www.raspberrypi.org/software/){target=_blank rel=noopener} にアクセスします + 1. Raspberry Pi Imagerをダウンロードします + ![](../../img/raspimouse/driver/download_raspberry_pi_imager.png) + 1. SDカードをPCに接続します + 1. Raspberry Pi Imagerを起動します + 1. 書き込むOSを"Other general-purpose OS" -> "Ubuntu" -> "Ubuntu Server 24.04.* LTS"、書き込み先をSDカードに設定します __ROS 2を使う場合は64bit版__ を選択します + ![](../../img/raspimouse/driver/pi_imager_settings_ubuntu_24_64bit.png) + 1. "WRITE" を押して書き込みを開始します + ![](../../img/raspimouse/driver/pi_imager_settings_ubuntu_24.png) + 1. SDカードをRaspberry Piに取り付け、Raspberry Piの電源を入れます + 1. login:`ubuntu`、password:`ubuntu`でログインし、パスワードを変更します + 1. `$ sudo apt update && sudo apt upgrade`を実行します + === "Ubuntu Server 22.04" 1. [https://www.raspberrypi.org/software/](https://www.raspberrypi.org/software/){target=_blank rel=noopener} にアクセスします 1. Raspberry Pi Imagerをダウンロードします ![](../../img/raspimouse/driver/download_raspberry_pi_imager.png) 1. SDカードをPCに接続します 1. Raspberry Pi Imagerを起動します - 1. 書き込むOSを"Other general-purpose OS" -> "Ubuntu" -> "Ubuntu Server 22.04.* LTS"、書き込み先をSDカードに設定します __ROS 2を使う場合は64bit版__ を選択します + 1. 書き込むOSを"Other general-purpose OS" -> "Ubuntu" -> "Ubuntu Server 22.04.* LTS"、書き込み先をSDカードに設定します __ROS 2を使う場合は64bit版__ を選択します ![](../../img/raspimouse/driver/pi_imager_settings_ubuntu_22_64bit.png) - 1. "書き込む" を押して書き込みを開始します + 1. "WRITE" を押して書き込みを開始します ![](../../img/raspimouse/driver/pi_imager_settings_ubuntu_22.png) 1. SDカードをRaspberry Piに取り付け、Raspberry Piの電源を入れます 1. login:`ubuntu`、password:`ubuntu`でログインし、パスワードを変更します @@ -61,9 +81,9 @@ Raspberry Pi Mouseのデバイスドライバは"Ubuntu"と"Raspberry Pi OS"（ ![](../../img/raspimouse/driver/download_raspberry_pi_imager.png) 1. SDカードをPCに接続します 1. Raspberry Pi Imagerを起動します - 1. 書き込むOSを"Other general-purpose OS" -> "Ubuntu" -> "Ubuntu Server 20.04.* LTS"、書き込み先をSDカードに設定します __ROSを使う場合は64bit版__ を選択します + 1. 書き込むOSを"Other general-purpose OS" -> "Ubuntu" -> "Ubuntu Server 20.04.* LTS"、書き込み先をSDカードに設定します __ROSを使う場合は64bit版__ を選択します ![](../../img/raspimouse/driver/pi_imager_settings_ubuntu_64bit.png) - 1. "WRITE" を押して書き込みを開始します + 1. "WRITE" を押して書き込みを開始します ![](../../img/raspimouse/driver/pi_imager_settings_ubuntu.png) 1. SDカードをRaspberry Piに取り付け、Raspberry Piの電源を入れます 1. login:`ubuntu`、password:`ubuntu`でログインし、パスワードを変更します @@ -76,7 +96,7 @@ Raspberry Pi Mouseのデバイスドライバは"Ubuntu"と"Raspberry Pi OS"（ ![](../../img/raspimouse/driver/download_raspberry_pi_imager.png) 1. SDカードをPCに接続します 1. Raspberry Pi Imagerを起動します - 1. 書き込むOSを"Raspberry Pi OS (32-bit)"、書き込み先をSDカードに設定し、"WRITE"を押して書き込みを開始します + 1. 書き込むOSを"Raspberry Pi OS (32-bit)"、または"Raspberry Pi OS (64-bit)"、書き込み先をSDカードに設定し、"WRITE"を押して書き込みを開始します ![](../../img/raspimouse/driver/pi_imager_settings.png) 1. SDカードをRaspberry Piに取り付け、Raspberry Piの電源を入れます ![](../../img/raspimouse/driver/raspi_os_settings.png) @@ -89,7 +109,7 @@ Raspberry Pi Mouseのデバイスドライバは"Ubuntu"と"Raspberry Pi OS"（ HDMIケーブルとHDMI入力付きのモニタ、USBキーボードとマウスをRaspberry Piに接続して設定する方法を紹介します。 [https://ubuntu.com/server/docs/network-configuration](https://ubuntu.com/server/docs/network-configuration) - に詳細な説明が書かれています。 + に詳細な説明が書かれています。 IPアドレスの固定については[Ubuntu ServerでWi-Fiに接続し、IPアドレスを固定する](#wifi-static-ip)を参照してください。 1. `$ sudo vim /etc/netplan/99_config.yaml`で設定ファイルを新規作成し、下記のように記述します。 @@ -123,39 +143,48 @@ Raspberry Pi Mouseのデバイスドライバのソースファイルは に公開されています。 === "Ubuntu Server" - 1. パルスカウンタの動作を安定させるためI2Cのボーレートを変更します - 1. `/boot/firmware/config.txt`を編集し、`dtparam=i2c_baudrate=62500`を追記します - 1. Raspberry Pi を再起動します - 1. `$ printf "%d\n" 0x$(xxd -ps /sys/class/i2c-adapter/i2c-1/of_node/clock-frequency)`を実行し、`62500`と表示されたら設定完了です。 - 1. 次のコマンドを実行し、デバイスドライバをインストールします + 1. 次のコマンドを実行し、デバイスドライバをダウンロードします ```sh $ git clone https://github.com/rt-net/RaspberryPiMouse.git + ``` + 2. 次のコマンドを実行し、Raspberry Pi Mouseを動かすための設定を行います + ```sh + $ cd RaspberryPiMouse/utils + $ ./set_configs.bash + ``` + 3. 次のコマンドを実行し、Raspberry Piを再起動します + ```sh + $ sudo reboot + ``` + 4. 次のコマンドを実行し、デバイスドライバをインストールします + ```sh $ cd RaspberryPiMouse/utils $ sudo apt install linux-headers-$(uname -r) build-essential $ ./build_install.bash ``` - 1. コマンド実行後にブザーが鳴ればインストール完了です。 + 5. コマンド実行後にブザーが鳴ればインストール完了です === "Raspberry Pi OS" - 1. パルスカウンタの動作を安定させるためI2Cのボーレートを変更します - 1. `/boot/config.txt`を編集し、`dtparam=i2c_baudrate=62500`を追記します - 1. Raspberry Pi を再起動します - 1. `$ printf "%d\n" 0x$(xxd -ps /sys/class/i2c-adapter/i2c-1/of_node/clock-frequency)`を実行し、`62500`と表示されたら設定完了です。 - 1. `Raspberry Piの設定`を開きます - ![](../../img/raspimouse/driver/raspi_os_settings2.png) - 1. `インターフェイス`に進み、`SPI`と`I2C`の機能を有効にします - ![](../../img/raspimouse/driver/raspi_os_settings3.png) 1. ターミナル(`LXTerminal`)を起動します ![](../../img/raspimouse/driver/open_terminal.png) - 1. 次のコマンドを実行し、デバイスドライバをインストールします + 2. 次のコマンドを実行し、デバイスドライバをダウンロードします ```sh $ git clone https://github.com/rt-net/RaspberryPiMouse.git + ``` + 3. 次のコマンドを実行し、Raspberry Pi Mouseを動かすための設定を行います + ```sh $ cd RaspberryPiMouse/utils - $ sudo apt install raspberrypi-kernel-headers build-essential + $ ./set_configs.bash + ``` + 4. Raspberry Piを再起動します + 5. 次のコマンドを実行し、デバイスドライバをインストールします + ```sh + $ cd RaspberryPiMouse/utils + $ sudo apt install linux-headers-$(uname -r) build-essential $ ./build_install.bash ``` - 1. コマンド実行後にブザーが鳴ればインストール完了です。 + 6. コマンド実行後にブザーが鳴ればインストール完了です **デバイスドライバはOSを起動するたびにインストールしてください。** 上記インストール手順で設定した場合は以下のコマンドでインストールできます。 @@ -169,12 +198,12 @@ $ ~/RaspberryPiMouse/utils/build_install.bash ### Ubuntu ServerでWi-Fiに接続し、IPアドレスを固定する {: #wifi-static-ip} [https://ubuntu.com/server/docs/network-configuration](https://ubuntu.com/server/docs/network-configuration) -に詳細な説明が書かれています。 +に詳細な説明が書かれています。 !!! info IPアドレスを固定するとネットワークに影響が出る場合があります。会社等で利用する場合はネットワーク管理者にお問い合わせください。 -1. `$ sudo vim /etc/netplan/99_config.yaml`で設定ファイルを新規作成し、下記のように`dhcp4: false`としてIPアドレスを記述します。 +1. `$ sudo vim /etc/netplan/99_config.yaml`で設定ファイルを新規作成し、下記のように`dhcp4: false`としてIPアドレスを記述します。 この例では、IPアドレスを`192.168.11.89`に固定します。__この設定値は環境によって変わりますのでご注意ください__。 ```yaml network: diff --git a/docs/raspimouse/ros/install.md b/docs/raspimouse/ros/install.md index 8f5e542..9a174d1 100644 --- a/docs/raspimouse/ros/install.md +++ b/docs/raspimouse/ros/install.md @@ -19,6 +19,7 @@ robot: Raspberry Pi Mouse * 組み立て済みRaspberry Pi Mouse本体 * [製品マニュアル](https://rt-net.jp/products/raspberrypimousev3/#downloads)を読んで組み立て済みの状態を前提としています * OS（**Ubuntu Server**）がインストール済みであることを前提としています + * `ROS 2 Jazzy`を使用する場合: **Ubuntu Server 24.04** * `ROS 2 Humble`を使用する場合: **Ubuntu Server 22.04** * `ROS Noetic`を使用する場合: **Ubuntu Server 20.04** * Raspberry Pi OSでのROSの動作は確認していません @@ -26,12 +27,10 @@ robot: Raspberry Pi Mouse * バッテリでも電源変換ケーブルつきACアダプタでも可 * ノートパソコン等のPC * OS（**Ubuntu Desktop**）がインストール済みであることを前提としています + * `ROS 2 Jazzy`を使用する場合: **Ubuntu Desktop 24.04** * `ROS 2 Humble`を使用する場合: **Ubuntu Desktop 22.04** * `ROS Noetic`を使用する場合: **Ubuntu Desktop 20.04** -!!! info - `ROS 2 Foxy`は2023年6月にEOL（サポート終了）を迎えたため、`ROS 2 Humble`の使用を推奨しています。 - ## ROS / ROS 2のインストール（公式のドキュメントに沿って進める場合） {: #official-document} === "ROS" @@ -39,8 +38,8 @@ robot: Raspberry Pi Mouse を参考に、`ROS Noetic`をインストールします。 GUIを使用する場合は`Desktop-Full`を、 使用しない場合は`ROS-Base`パッケージをインストールします。 - -=== "ROS 2 Humble（推奨）" + +=== "ROS 2 Humble" [https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html](https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html){target=_blank rel=noopener} を参考に、`ROS 2 Humble`をインストールします。 @@ -49,13 +48,13 @@ robot: Raspberry Pi Mouse [https://docs.ros.org/en/humble/Tutorials/Colcon-Tutorial.html](https://docs.ros.org/en/humble/Tutorials/Colcon-Tutorial.html){target=_blank rel=noopener} を参考に、パッケージビルドツールの`colcon`をインストールします。 -=== "ROS 2 Foxy（非推奨）" - [https://docs.ros.org/en/foxy/Installation/Ubuntu-Install-Debians.html](https://docs.ros.org/en/foxy/Installation/Ubuntu-Install-Debians.html){target=_blank rel=noopener} - を参考に、`ROS 2 Foxy`をインストールします。 +=== "ROS 2 Jazzy" + [https://docs.ros.org/en/jazzy/Installation/Ubuntu-Install-Debs.html](https://docs.ros.org/en/jazzy/Installation/Ubuntu-Install-Debs.html){target=_blank rel=noopener} + を参考に、`ROS 2 Jazzy`をインストールします。 GUIを使用する場合は`Desktop`を、 使用しない場合は`ROS-Base`パッケージをインストールします。 - [https://docs.ros.org/en/foxy/Tutorials/Colcon-Tutorial.html](https://docs.ros.org/en/foxy/Tutorials/Colcon-Tutorial.html){target=_blank rel=noopener} + [https://docs.ros.org/en/humble/Tutorials/Colcon-Tutorial.html](https://docs.ros.org/en/humble/Tutorials/Colcon-Tutorial.html){target=_blank rel=noopener} を参考に、パッケージビルドツールの`colcon`をインストールします。 ## ROS / ROS 2のインストール（インストールスクリプトを使う場合） {: #install-script} @@ -95,7 +94,8 @@ robot: Raspberry Pi Mouse ```sh $ source ~/.bashrc ``` -=== "ROS 2 Humble（推奨）" + +=== "ROS 2 Humble" このROS 2インストールスクリプトは`curl`と`git`を使用します。以下のコマンドでインストールします。 ```sh @@ -114,8 +114,8 @@ robot: Raspberry Pi Mouse スクリプトが問題なく実行できれば以下のメッセージが表示されます。 ```txt - Success installing ROS humble - Run 'source ~/.bashrc' + success installing ROS2 humble + Run 'source /opt/ros/humble/setup.bash' ``` 以下のコマンドでインストールした設定を読み込みます。 @@ -124,7 +124,7 @@ robot: Raspberry Pi Mouse $ source ~/.bashrc ``` -=== "ROS 2 Foxy（非推奨）" +=== "ROS 2 Jazzy" このROS 2インストールスクリプトは`curl`と`git`を使用します。以下のコマンドでインストールします。 ```sh @@ -137,14 +137,14 @@ robot: Raspberry Pi Mouse ```sh $ git clone https://github.com/Tiryoh/ros2_setup_scripts_ubuntu.git $ cd ros2_setup_scripts_ubuntu - $ ./ros2-foxy-desktop-main.sh + $ ./ros2-jazzy-desktop-main.sh ``` スクリプトが問題なく実行できれば以下のメッセージが表示されます。 ```txt - Success installing ROS foxy - Run 'source ~/.bashrc' + success installing ROS2 jazzy + Run 'source /opt/ros/jazzy/setup.bash' ``` 以下のコマンドでインストールした設定を読み込みます。 @@ -189,7 +189,7 @@ robot: Raspberry Pi Mouse $ source ~/.bashrc ``` -=== "ROS 2 Humble（推奨）" +=== "ROS 2 Humble" このROS 2インストールスクリプトは`curl`と`git`を使用します。以下のコマンドでインストールします。 ```sh @@ -208,8 +208,8 @@ robot: Raspberry Pi Mouse スクリプトが問題なく実行できれば以下のメッセージが表示されます。 ```txt - Success installing ROS humble - Run 'source ~/.bashrc' + success installing ROS2 humble + Run 'source /opt/ros/humble/setup.bash' ``` 以下のコマンドでインストールした設定を読み込みます。 @@ -218,7 +218,7 @@ robot: Raspberry Pi Mouse $ source ~/.bashrc ``` -=== "ROS 2 Foxy（非推奨）" +=== "ROS 2 Jazzy" このROS 2インストールスクリプトは`curl`と`git`を使用します。以下のコマンドでインストールします。 ```sh @@ -231,14 +231,14 @@ robot: Raspberry Pi Mouse ```sh $ git clone https://github.com/Tiryoh/ros2_setup_scripts_ubuntu.git $ cd ros2_setup_scripts_ubuntu - $ ./ros2-foxy-ros-base-main.sh + $ ./ros2-jazzy-ros-base-main.sh ``` スクリプトが問題なく実行できれば以下のメッセージが表示されます。 ```txt - Success installing ROS foxy - Run 'source ~/.bashrc' + success installing ROS2 jazzy + Run 'source /opt/ros/jazzy/setup.bash' ``` 以下のコマンドでインストールした設定を読み込みます。 diff --git a/docs/raspimouse/ros/package-install.md b/docs/raspimouse/ros/package-install.md index fd2aa22..9a6a4ab 100644 --- a/docs/raspimouse/ros/package-install.md +++ b/docs/raspimouse/ros/package-install.md @@ -12,6 +12,7 @@ robot: Raspberry Pi Mouse * 組み立て済みRaspberry Pi Mouse本体 * [製品マニュアル](https://rt-net.jp/products/raspberrypimousev3/#downloads)を読んで組み立て済みの状態を前提としています * OS（**Ubuntu Server**）がインストール済みであることを前提としています + * `ROS 2 Jazzy`を使用する場合: **Ubuntu Server 24.04** * `ROS 2 Humble`を使用する場合: **Ubuntu Server 22.04** * `ROS Noetic`を使用する場合: **Ubuntu Server 20.04** * Raspberry Pi OSでのROSの動作は確認していません @@ -23,6 +24,7 @@ robot: Raspberry Pi Mouse * バッテリでも電源変換ケーブルつきACアダプタでも可 * ノートパソコン等のPC * OS（**Ubuntu Desktop**）がインストール済みであることを前提としています + * `ROS 2 Jazzy`を使用する場合: **Ubuntu Desktop 24.04** * `ROS 2 Humble`を使用する場合: **Ubuntu Desktop 22.04** * `ROS Noetic`を使用する場合: **Ubuntu Desktop 20.04** @@ -57,7 +59,7 @@ robot: Raspberry Pi Mouse $ source ~/catkin_ws/devel/setup.bash ``` -=== "ROS 2 Humble（推奨）" +=== "ROS 2 Humble" Raspberry Piとノートパソコン等のPCそれぞれで次のコマンドを実行します。 ```sh @@ -70,29 +72,49 @@ robot: Raspberry Pi Mouse * [raspimouse_ros2_examples](https://github.com/rt-net/raspimouse_ros2_examples) : サンプル集パッケージ * [raspimouse_slam_navigation_ros2](https://github.com/rt-net/raspimouse_slam_navigation_ros2) : SLAMとナビゲーションのパッケージ * [raspimouse_description](https://github.com/rt-net/raspimouse_description) : ロボットモデルパッケージ + * [rt_usb_9axisimu_driver](https://github.com/rt-net/rt_usb_9axisimu_driver/tree/ros2-devel) : 9軸IMU制御パッケージ -=== "ROS 2 Foxy（非推奨）" - Raspberry Piとノートパソコン等のPCそれぞれで、 - サンプル集パッケージ - [rt-net/raspimouse_ros2_examples](https://github.com/rt-net/raspimouse_ros2_examples){target=_blank rel=noopener} - をダウンロードしてインストールします。 +=== "ROS 2 Jazzy" + Raspberry Piとノートパソコン等のPCそれぞれで、次のコマンドを実行します。 + Raspberry Pi Mouseのパッケージをダウンロードします。 + ```sh - $ source /opt/ros/foxy/setup.bash + $ source /opt/ros/jazzy/setup.bash $ mkdir -p ~/ros2_ws/src $ cd ~/ros2_ws/src - # Clone packages - $ git clone https://github.com/rt-net/raspimouse_ros2_examples + + # Download packages + $ git clone -b $ROS_DISTRO https://github.com/rt-net/raspimouse2.git + $ git clone -b $ROS_DISTRO https://github.com/rt-net/raspimouse_ros2_examples.git + $ git clone -b $ROS_DISTRO https://github.com/rt-net/raspimouse_slam_navigation_ros2.git # Install dependencies $ rosdep install -r -y --from-paths . --ignore-src + ``` - # make & install + Raspberry Pi Mouseのパッケージをビルドします。Raspberry Pi MouseとPCでコマンドが異なります。 + + ```sh + # Raspberry Pi Mouseの場合 + $ cd ~/ros2_ws + $ MAKEFLAGS=-j1 colcon build --symlink-install + $ source ~/ros2_ws/install/setup.bash + + # PCの場合 $ cd ~/ros2_ws $ colcon build --symlink-install $ source ~/ros2_ws/install/setup.bash ``` + これにより、以下のパッケージがインストールされます。 + + * [raspimouse2](https://github.com/rt-net/raspimouse2) : 制御パッケージ + * [raspimouse_ros2_examples](https://github.com/rt-net/raspimouse_ros2_examples) : サンプル集パッケージ + * [raspimouse_slam_navigation_ros2](https://github.com/rt-net/raspimouse_slam_navigation_ros2) : SLAMとナビゲーションのパッケージ + * [raspimouse_description](https://github.com/rt-net/raspimouse_description) : ロボットモデルパッケージ + * [rt_usb_9axisimu_driver](https://github.com/rt-net/rt_usb_9axisimu_driver/tree/ros2-devel) : 9軸IMU制御パッケージ + !!! info ROS/ROS 2を同時にインストールした環境で実行する場合、`/opt/ros/*/setup.bash`を実行したいROSのバージョンにあわせて都度読み込む必要があります。 - `catkin_make`や`colcon build`でエラーが出た場合はご確認ください。 + `catkin_make`や`colcon build`でエラーが出た場合はご確認ください。 \ No newline at end of file diff --git a/docs/raspimouse/ros/samples.md b/docs/raspimouse/ros/samples.md index f0e7877..e3c1693 100644 --- a/docs/raspimouse/ros/samples.md +++ b/docs/raspimouse/ros/samples.md @@ -16,6 +16,7 @@ robot: Raspberry Pi Mouse * 組み立て済みRaspberry Pi Mouse本体 * [製品マニュアル](https://rt-net.jp/products/raspberrypimousev3/#downloads)を読んで組み立て済みの状態を前提としています * OS（**Ubuntu Server**）がインストール済みであることを前提としています + * `ROS 2 Jazzy`を使用する場合: **Ubuntu Server 24.04** * `ROS 2 Humble`を使用する場合: **Ubuntu Server 22.04** * `ROS Noetic`を使用する場合: **Ubuntu Server 20.04** * Raspberry Pi OSでのROSの動作は確認していません @@ -29,6 +30,7 @@ robot: Raspberry Pi Mouse * バッテリでも電源変換ケーブルつきACアダプタでも可 * ノートパソコン等のPC * OS（**Ubuntu Desktop**）がインストール済みであることを前提としています + * `ROS 2 Jazzy`を使用する場合: **Ubuntu Desktop 24.04** * `ROS 2 Humble`を使用する場合: **Ubuntu Desktop 22.04** * `ROS Noetic`を使用する場合: **Ubuntu Desktop 20.04** @@ -46,7 +48,7 @@ robot: Raspberry Pi Mouse ``` -=== "ROS 2 Humble（推奨）" +=== "ROS 2 Humble" [ROS 2サンプル集(rt-net/raspimouse_ros2_examples)](https://github.com/rt-net/raspimouse_ros2_examples){target=_blank rel=noopener} のサンプルを実行する場合は下記コマンドを実行し、 ROS 2とパッケージを読み込んでください。 @@ -56,16 +58,16 @@ robot: Raspberry Pi Mouse $ source ~/ros2_ws/install/setup.bash ``` -=== "ROS 2 Foxy（非推奨）" +=== "ROS 2 Jazzy" [ROS 2サンプル集(rt-net/raspimouse_ros2_examples)](https://github.com/rt-net/raspimouse_ros2_examples){target=_blank rel=noopener} のサンプルを実行する場合は下記コマンドを実行し、 ROS 2とパッケージを読み込んでください。 ```sh - $ source /opt/ros/foxy/setup.bash + $ source /opt/ros/jazzy/setup.bash $ source ~/ros2_ws/install/setup.bash ``` - + ## Raspberry PiとPC間のROSネットワークを接続する {: #network} === "ROS" diff --git a/docs/raspimouse/simulator/install.md b/docs/raspimouse/simulator/install.md index 7f2c010..5128642 100644 --- a/docs/raspimouse/simulator/install.md +++ b/docs/raspimouse/simulator/install.md @@ -16,6 +16,7 @@ Raspberry Pi Mouse Simulator（[rt-net/raspimouse_sim](https://github.com/rt-net * ノートパソコン等のPC * OS（**Ubuntu Desktop**）がインストール済みであることを前提としています + * `ROS 2 Jazzy`を使用する場合: **Ubuntu Desktop 24.04** * `ROS 2 Humble`を使用する場合: **Ubuntu Desktop 22.04** * `ROS Noetic`を使用する場合: **Ubuntu Desktop 20.04** * ROSまたはROS 2がインストール済みであることを前提としています @@ -54,25 +55,56 @@ Raspberry Pi Mouse Simulator（[rt-net/raspimouse_sim](https://github.com/rt-net rosrun raspimouse_gazebo download_gazebo_models.sh ``` -=== "ROS 2" +=== "ROS 2 Humble" 次のコマンドを実行します。 シミュレータパッケージのインストール ```sh - sudo apt install ros-humble-raspimouse-sim + sudo apt install ros-$ROS_DISTRO-raspimouse-sim ``` サンプルパッケージのインストール ```sh - sudo apt install ros-humble-raspimouse-slam-navigation + sudo apt install ros-$ROS_DISTRO-raspimouse-slam-navigation ``` キーボードで操作するためのパッケージをインストール ```sh - sudo apt install ros-humble-teleop-twist-keyboard + sudo apt install ros-$ROS_DISTRO-teleop-twist-keyboard + ``` + +=== "ROS 2 Jazzy" + 次のコマンドを実行します。 + + シミュレータパッケージとサンプルパッケージのダウンロードとインストール + + ```sh + $ source /opt/ros/jazzy/setup.bash + $ mkdir -p ~/ros2_ws/src + $ cd ~/ros2_ws/src + + # Download packages + $ git clone -b $ROS_DISTRO https://github.com/rt-net/raspimouse_sim.git + $ git clone -b $ROS_DISTRO https://github.com/rt-net/raspimouse2.git + $ git clone -b $ROS_DISTRO https://github.com/rt-net/raspimouse_ros2_examples.git + $ git clone -b $ROS_DISTRO https://github.com/rt-net/raspimouse_slam_navigation_ros2.git + + # Install dependencies + $ rosdep install -r -y --from-paths . --ignore-src + + # make & install + $ cd ~/ros2_ws + $ colcon build --symlink-install + $ source ~/ros2_ws/install/setup.bash + ``` + + キーボードで操作するためのパッケージをインストール + + ```sh + sudo apt install ros-$ROS_DISTRO-teleop-twist-keyboard ``` ## 動作確認（キーボードで操縦） {: #teleop} @@ -94,7 +126,7 @@ Raspberry Pi Mouse Simulator（[rt-net/raspimouse_sim](https://github.com/rt-net ![](https://rt-net.github.io/images/raspberry-pi-mouse/raspimouse_sim_samplemaze_animation.gif) -=== "ROS 2" +=== "ROS 2 Humble" 次のコマンドを実行します。 シミュレータの起動 @@ -105,8 +137,25 @@ Raspberry Pi Mouse Simulator（[rt-net/raspimouse_sim](https://github.com/rt-net 別のターミナルでコマンドを実行 - ``` + ```sh ros2 run teleop_twist_keyboard teleop_twist_keyboard ``` ![](https://rt-net.github.io/images/raspberry-pi-mouse/raspimouse_sim_joystick.gif) + +=== "ROS 2 Jazzy" + 次のコマンドを実行します。 + + シミュレータの起動 + + ```sh + ros2 launch raspimouse_gazebo raspimouse_with_emptyworld.launch.py + ``` + + 別のターミナルでコマンドを実行 + + ```sh + ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -p stamped:=true + ``` + + ![](https://rt-net.github.io/images/raspberry-pi-mouse/raspimouse_sim_joystick.gif) diff --git a/docs/raspimouse/simulator/samples.md b/docs/raspimouse/simulator/samples.md index bf8e812..6ed19f9 100644 --- a/docs/raspimouse/simulator/samples.md +++ b/docs/raspimouse/simulator/samples.md @@ -12,15 +12,15 @@ robot: Raspberry Pi Mouse ## 使用機材 {: #requirements} * ノートパソコン等のPC - * OS（**Ubuntu Desktop 22.04**）がインストール済みであることを前提としています - * ROS 2がインストール済みであることを前提としています + * OS（**Ubuntu Desktop 22.04** / **Ubuntu Desktop 24.04**）がインストール済みであることを前提としています + * ROS 2 (**Humble** / **Jazzy**)がインストール済みであることを前提としています * インストール方法については[ROS/ROS 2のインストール](../ros/install.md)を参照してください。 * ROS 2のシミュレータパッケージがインストール済みであることを前提としています * インストール方法については[シミュレータのインストール](./install.md)を参照してください。 ## ROS 2パッケージ情報の読み込み {: #load-workspace} -=== "ROS 2" +=== "ROS 2 Humble" [ROS 2サンプル集(rt-net/raspimouse_ros2_examples)](https://github.com/rt-net/raspimouse_ros2_examples){target=_blank rel=noopener} のサンプルを実行する場合は下記コマンドを実行し、 ROS 2とパッケージを読み込んでください。 @@ -29,6 +29,15 @@ robot: Raspberry Pi Mouse source /opt/ros/humble/setup.bash source ~/ros2_ws/install/setup.bash ``` +=== "ROS 2 Jazzy" + [ROS 2サンプル集(rt-net/raspimouse_ros2_examples)](https://github.com/rt-net/raspimouse_ros2_examples){target=_blank rel=noopener} + のサンプルを実行する場合は下記コマンドを実行し、 + ROS 2とパッケージを読み込んでください。 + + ```sh + source /opt/ros/jazzy/setup.bash + source ~/ros2_ws/install/setup.bash + ``` ## ジョイスティックで操縦 {: #joystick} @@ -103,7 +112,10 @@ robot: Raspberry Pi Mouse ## SLAM {: #slam} -=== "ROS 2" +!!! info + `ROS 2 Jazzy`と`ROS 2 Humble`でコマンドが異なるためご注意ください。 + +=== "ROS 2 Humble" 次のコマンドを実行します。 シミュレータの起動 @@ -140,9 +152,49 @@ robot: Raspberry Pi Mouse ![](https://rt-net.github.io/images/raspberry-pi-mouse/raspimouse_sim_slam_short.gif) +=== "ROS 2 Jazzy" + 次のコマンドを実行します。 + + シミュレータの起動 + + ```sh + ros2 launch raspimouse_gazebo raspimouse_with_lakehouse.launch.py lidar:=urg + ``` + + `lidar`は`urg`、`lds`、`rplidar`のいずれかを指定してください。 + + キーボードで操作 + + ```sh + ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -p stamped:=true + ``` + + SLAMを実行 + + ```sh + ros2 launch raspimouse_slam pc_slam.launch.py + ``` + + Raspberry Pi Mouseを走らせて地図を作成 + + ![](https://rt-net.github.io/images/raspberry-pi-mouse/raspimouse_sim_slam.png) + + 作成した地図を保存 + + ```sh + ros2 run nav2_map_server map_saver_cli -f ~/MAP_NAME + ``` + + `MAP_NAME`は任意の名前を指定できます。 + + ![](https://rt-net.github.io/images/raspberry-pi-mouse/raspimouse_sim_slam_short.gif) + ## Navigation {: #navigation} -=== "ROS 2" +!!! info + `ROS 2 Jazzy`と`ROS 2 Humble`でコマンドが異なるためご注意ください。 + +=== "ROS 2 Humble" 次のコマンドを実行します。 シミュレータの起動 @@ -163,3 +215,23 @@ robot: Raspberry Pi Mouse ![](https://rt-net.github.io/images/raspberry-pi-mouse/raspimouse_sim_navigation_short.gif) +=== "ROS 2 Jazzy" + 次のコマンドを実行します。 + + シミュレータの起動 + + ```sh + ros2 launch raspimouse_gazebo raspimouse_with_lakehouse.launch.py lidar:=urg + ``` + + `lidar`は`urg`、`lds`、`rplidar`のいずれかを指定してください。 + + Navigationを実行 + + ```sh + ros2 launch raspimouse_navigation pc_navigation.launch.py use_sim_time:=true map:=$HOME/MAP_NAME.yaml + ``` + + 引数`map`にはSLAMで作成した地図ファイルのパスを指定してください。 + + ![](https://rt-net.github.io/images/raspberry-pi-mouse/raspimouse_sim_navigation_short.gif)