From 4f586e069e024477a6125a8c2615f06f6efc6177 Mon Sep 17 00:00:00 2001 From: uhobeike Date: Fri, 10 Jun 2022 20:33:28 +0900 Subject: [PATCH 01/38] Add file --- docs/raspicat/driver/install.md | 115 +++++++++++++++++++ docs/raspicat/driver/samples.md | 163 +++++++++++++++++++++++++++ docs/raspicat/ros/install.md | 98 ++++++++++++++++ docs/raspicat/ros/package-install.md | 48 ++++++++ docs/raspicat/ros/samples.md | 68 +++++++++++ docs/raspicat/ros/simulator.md | 0 mkdocs.yml | 8 ++ 7 files changed, 500 insertions(+) create mode 100644 docs/raspicat/driver/install.md create mode 100644 docs/raspicat/driver/samples.md create mode 100644 docs/raspicat/ros/install.md create mode 100644 docs/raspicat/ros/package-install.md create mode 100644 docs/raspicat/ros/samples.md create mode 100644 docs/raspicat/ros/simulator.md diff --git a/docs/raspicat/driver/install.md b/docs/raspicat/driver/install.md new file mode 100644 index 0000000..ccc8667 --- /dev/null +++ b/docs/raspicat/driver/install.md @@ -0,0 +1,115 @@ +--- +title: デバイスドライバのインストール +robot: Raspberry Pi Cat +--- + +# デバイスドライバのインストール + +このページでは +[Raspberry Pi Catのデバイスドライバ](https://github.com/rt-net/RaspberryPiMouse) +のインストール方法を説明します。 + +Raspberry Pi CatのLEDやモータを駆動するためには、 +デバイスドライバが必要です。 + +## OSのインストール + +Raspberry Pi Cat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。 + +後ほどRaspberry Pi Catで**ROSを扱う場合はUbuntu Serverのインストールを推奨します**。 + +=== "Ubuntu Server 18.04" + [こちらのリンク](http://cdimage.ubuntu.com/ubuntu/releases/18.04/release/)から`Ubuntu 18.04 server`のイメージをダウンロードします。 + + ダウンロードしたイメージは[rpi-imager](https://www.raspberrypi.com/software/)等でSDカードに書き込みます。 + +=== "Raspberry Pi OS" + Raspberry Pi OSの場合は、サイトからイメージをダウンロードせずに[rpi-imager](https://www.raspberrypi.com/software/)を使用することで、イメージを書き込むことができます。 + +## ソースファイルのダウンロードとインストール + +Raspberry Pi Catのデバイスドライバのソースファイルは +[GitHub](https://github.com/rt-net/RaspberryPiMouse) +に公開されています。 + +=== "Ubuntu Server" + 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 + ```sh + $ git clone https://github.com/rt-net/RaspberryPiMouse.git $HOME/RaspberryPiMouse + $ cd $HOME/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。 + 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。 + +=== "Raspberry Pi OS" + 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 + ```sh + $ git clone https://github.com/rt-net/RaspberryPiMouse.git + $ cd RaspberryPiMouse/utils + $ sudo apt install raspberrypi-kernel-headers 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。 + 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$(xxd -ps /sys/class/i2c-adapter/i2c-1/of_node/clock-frequency)`を実行し、`62500`と表示されたら設定完了です。 + +## デバイスドライバの自動インストール +デバイスドライバは起動たびにインストールする必要があります。 + +そのため、[raspicat_setup_scripts](https://github.com/rt-net/raspicat_setup_scripts)を使用して、起動たびにデバイスドライバをインストールするためのサービスを登録します。 + +```sh +$ git clone https://github.com/rt-net/raspicat_setup_scripts.git $HOME/raspicat_setup_scripts +$ cd $HOME/raspicat_setup_scripts +$ make install +``` + +## その他 + +### Ubuntu ServerでWi-Fiに接続し、IPアドレスを固定する + +[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。 + +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。 +この例では、IPアドレスを`192.168.11.89`に固定します。 +```txt +network: + ethernets: + eth0: + dhcp4: true + optional: true + wifis: + wlan0: + access-points: + ここにSSIDを書く: + password: ここにパスワードを書く + dhcp4: false + addresses: [192.168.11.89/24] + gateway4: 192.168.11.1 + nameservers: + addresses: [8.8.8.8, 192.168.11.1] + version: 2 +``` +2. `$ sudo netplan apply`を実行します +3. `$ ip addr`でWi-Fiに接続できているか確認します + +### Ubuntu Serverで有線LANを使用して、ノートPCのネットワークを利用する + +Wi-Fiに接続する以外にノートPCのネットワークを利用する方法があります。 +また、Raspberry Pi CatでROSを使用する場合はノートPCと有線LANで接続して通信を行う必要があるため手順を説明します。 + +1. ノートPC側でEthernetの接続プロファイルを作成します diff --git a/docs/raspicat/driver/samples.md b/docs/raspicat/driver/samples.md new file mode 100644 index 0000000..158338a --- /dev/null +++ b/docs/raspicat/driver/samples.md @@ -0,0 +1,163 @@ +--- +title: デバイスドライバのサンプルを動かす +robot: Raspberry Pi Cat +--- + +# サンプルプログラムの実行 + +デバイスドライバをインストールしたら、 +サンプルプログラムを実行しましょう。 + +サンプルプログラムのディレクトリに移動します。 + +```sh +$ cd ~/RaspberryPiMouse/SampleProgram +``` + +ディレクトリにあるプログラムを実行すると、LEDやブザーを動かせます。 + +このサンプルプログラムは[Apache License, Version 2.0](https://www.apache.org/licenses/LICENSE-2.0)でオープンソースソフトウェアとして公開しています。 +[https://github.com/rt-net/RaspberryPiMouse/tree/master/SampleProgram](https://github.com/rt-net/RaspberryPiMouse/tree/master/SampleProgram){target=_blank rel=noopener} + +## LED {: #step1} + +LED0〜LED3が点滅します。 + +=== "Shell Script" + ```sh + $ bash step1.sh + ``` + +=== "C" + ```sh + $ gcc step1.c -o step1 + $ ./step1 + ``` + +=== "Python" + ```sh + $ python3 step1.py + ``` + +## ブザー {: #step2} + +キーボード入力でブザーを鳴らします。 入力キーと音階のペアは[SCALE](https://github.com/rt-net/RaspberryPiMouse/blob/master/SampleProgram/SCALE)を参照してください。 + +++0++を入力するとブザーが止まります。 ++c++を入力するとプログラムが終了します。（Shell Scriptでは++ctrl+c++で終了します。） + +=== "Shell Script" + ```sh + $ bash step2.sh + ``` + +=== "C" + ```sh + $ gcc step2.c -o step2 + $ ./step2 + ``` + +=== "Python" + ```sh + $ python3 step2.py + ``` + +## スイッチ {: #step3} + +スイッチを押してLEDを点消灯します。 組み合わせは次のとおりです。 + +* SW0 : LED3 +* SW1 : LED1 & LED2 +* SW2 : LED0 + +=== "Shell Script" + ```sh + $ bash step3.sh + ``` + +=== "C" + ```sh + $ gcc step3.c -o step3 + $ ./step3 + ``` + +=== "Python" + ```sh + $ python3 step3.py + ``` + +## モータ {: #step4} + +モータを回して右旋回、左旋回します。 + +=== "Shell Script" + ```sh + $ bash step4.sh + ``` + +=== "C" + ```sh + $ gcc step4.c -o step4 + $ ./step4 + ``` + +=== "Python" + ```sh + $ python3 step4.py + ``` + +## ライトセンサ {: #step5} + +ライトセンサの値を読み込みます。 + +=== "Shell Script" + ```sh + $ bash step5.sh + ``` + +=== "C" + ```sh + $ gcc step5.c -o step5 + $ ./step5 + ``` + +=== "Python" + ```sh + $ python3 step5.py + ``` + +## パルスカウンタ {: #step6} + +モータを回して、パルスカウンタの値を読み込みます。 + +=== "Shell Script" + ```sh + $ bash step6.sh + ``` + +=== "C" + ```sh + $ gcc step6.c -o step6 + $ ./step6 + ``` + +=== "Python" + ```sh + $ python3 step6.py + ``` + +次のようにstep6.shを編集することで、符号付きのカウント値を読み取ることができます。 + +```sh +# step6.sh +MOTOR_R=/dev/rtmotor_raw_r0 +MOTOR_L=/dev/rtmotor_raw_l0 +COUNTER_R=/dev/rtcounter_r1 # r0からr1に書き換え +COUNTER_L=/dev/rtcounter_l1 # l0からl1に書き換え +``` + +```sh +$ bash step6.sh +``` + +Raspberry Pi 3では通信に失敗する場合（常に0が返ってくるなど）があります。I2Cのbaudrate設定を変更してください。 +https://github.com/rt-net/RaspberryPiMouse#%E3%83%91%E3%83%AB%E3%82%B9%E3%82%AB%E3%82%A6%E3%83%B3%E3%82%BF%E3%81%AB%E3%81%A4%E3%81%84%E3%81%A6 \ No newline at end of file diff --git a/docs/raspicat/ros/install.md b/docs/raspicat/ros/install.md new file mode 100644 index 0000000..95ef1c7 --- /dev/null +++ b/docs/raspicat/ros/install.md @@ -0,0 +1,98 @@ +--- +title: ROSのインストール +robot: Raspberry Pi Cat +--- + +# ROSのインストール + +このページでは、以下の2つのデバイスへのROSのインストール方法を説明します。 + +* Ubuntuインストール済みのノートパソコン等のPC +* Ubuntuインストール済みのRaspberry Pi + +なお、ROSをすでにインストール済みの場合はこのページの手順は不要です。 + +## 前提条件 {: #requirements} + +* ノートパソコン等のPC + * OS（**Ubuntu Desktop 18.04**）がインストール済みであること + +* Raspberry Pi + * OS（**Ubuntu Server 18.04**）がインストール済みであること + * Raspberry Pi OSでのROSの動作は確認していません。 + +## ROS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} + + +[https://wiki.ros.org/melodic/Installation/Ubuntu](https://wiki.ros.org/melodic/Installation/Ubuntu){target=_blank rel=noopener} +を参考に、`ROS Melodic`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} + +### ノートパソコン等のPC + +非公式のインストールスクリプトを使うことで簡単にROSをインストールできます。 + +このROSインストールスクリプトは`curl`を使用します。以下のコマンドでインストールします。 + +```sh +$ sudo apt install -y curl +``` + +以下のコマンドでROSインストールスクリプトを実行します。 +環境にもよりますが完了までは10分以上かかる場合があります。 + +```sh +$ bash -c "$(curl -SsfL u.ty0.jp/ros-melodic-desktop)" +``` + +スクリプトが問題なく実行できれば以下のメッセージが表示されます。 + +```txt +Success installing ROS melodic +Run 'source ~/.bashrc' + +If any error occurs, please refer to the following URL. +https://github.com/Tiryoh/ros_setup_scripts_ubuntu/ +``` + +以下のコマンドでインストールした設定を読み込みます。 + +```sh +$ source ~/.bashrc +``` + +### Raspberry Pi + +非公式のインストールスクリプトを使うことで簡単にROS / ROS 2をインストールできます。 + +このROSインストールスクリプトは`curl`を使用します。以下のコマンドでインストールします。 + +```sh +$ sudo apt install -y curl +``` + +以下のコマンドでROSインストールスクリプトを実行します。 +環境にもよりますが完了までは10分以上かかる場合があります。 + +```sh +$ bash -c "$(curl -SsfL u.ty0.jp/ros-melodic-ros-base)" +``` + +スクリプトが問題なく実行できれば以下のメッセージが表示されます。 + +```txt +Success installing ROS melodic +Run 'source ~/.bashrc' + +If any error occurs, please refer to the following URL. +https://github.com/Tiryoh/ros_setup_scripts_ubuntu/ +``` + +以下のコマンドでインストールした設定を読み込みます。 + +```sh +$ source ~/.bashrc +``` \ No newline at end of file diff --git a/docs/raspicat/ros/package-install.md b/docs/raspicat/ros/package-install.md new file mode 100644 index 0000000..2db7f6c --- /dev/null +++ b/docs/raspicat/ros/package-install.md @@ -0,0 +1,48 @@ +--- +title: ROSパッケージのインストール +robot: Raspberry Pi Cat +--- + +# ROSパッケージのインストール + +このページでは、Raspberry Pi CatへのROSサンプル集のインストール方法を説明します。 + +## 前提条件 + +- Raspberry PiにOS（**Ubuntu Server 18.04**）がインストール済みであること + - Raspberry Pi OSでのROSの動作は確認していません。 +- **デバイスドライバ**がインストール済みであること + - [デバイスドライバのインストール手順](../driver/install.md)を参照してください +- ROSがインストール済みであること + - [ROSのインストール手順](./install.md)を参照してください + + +## ROSパッケージのインストール + +制御用のパッケージである +[ryuichiueda/raspimouse_ros_2](https://github.com/ryuichiueda/raspimouse_ros_2){target=_blank rel=noopener} +と、サンプル集パッケージ +[rt-net/raspimouse_ros_examples](https://github.com/rt-net/raspimouse_ros_examples){target=_blank rel=noopener} +および、ナビゲーション用のパッケージ +[rt-net/raspimouse_slam_navigation_ros](https://github.com/rt-net/raspimouse_slam_navigation_ros){target=_blank rel=noopener} +をダウンロードしてインストールします。 + +```sh +$ source /opt/ros/noetic/setup.bash +$ mkdir -p ~/catkin_ws/src +$ cd ~/catkin_ws/src +# Clone ROS packages +$ git clone -b $ROS_DISTRO-devel https://github.com/rt-net/raspimouse.git +$ git clone -b $ROS_DISTRO-devel https://github.com/rt-net/raspicat_ros.git +$ git clone -b $ROS_DISTRO-devel https://github.com/rt-net/raspicat_slam_navigation.git +$ git clone https://github.com/rt-net/raspicat_sim.git +$ git clone https://github.com/rt-net/raspicat_description.git + +# Install dependencies +$ rosdep update +$ rosdep install -r -y -i --from-paths raspicat* raspimouse* + +# make & install +$ cd ~/catkin_ws && catkin_make +$ source ~/catkin_ws/devel/setup.bash +``` \ No newline at end of file diff --git a/docs/raspicat/ros/samples.md b/docs/raspicat/ros/samples.md new file mode 100644 index 0000000..35e2f33 --- /dev/null +++ b/docs/raspicat/ros/samples.md @@ -0,0 +1,68 @@ +--- +title: ROSの実行 +robot: Raspberry Pi Mouse +--- + +# ROSを使用してRaspberry Pi Catの制御 + +このページでは +マッピングからナビゲーションまでの実行方法を説明します。 + +サンプルを実行する場合は下記コマンドを実行し、 +ROSとパッケージを読み込んでください。 + +```sh +$ source /opt/ros/melodic/setup.bash +$ source ~/catkin_ws/devel/setup.bash +``` + +## Raspberry PiとPC間のROSネットワークを接続する + +環境変数`ROS_IP`、`ROS_MASTER_URI`を設定することで、 +PCからネットワークを介してRaspberry Pi側のトピックやサービスにアクセスできます。 + +Raspberry PiのIPアドレスが`192.168.11.89`、 +PCのIPアドレスが`192.168.11.100`のとき、 +下記コマンドで環境変数を設定します。 + +```sh +# Raspberry Pi側 +$ export ROS_IP=192.168.11.89 +$ export ROS_MASTER_URI=http://192.168.11.89:11311/ + +# PC側 +# ROS_MASTER_URIにはRaspberry PiのIPアドレスを入力する +$ export ROS_IP=192.168.11.100 +$ export ROS_MASTER_URI=http://192.168.11.89:11311/ +``` + +ネットワーク接続を切る場合は、 +`ROS_MASTER_URI`をデフォルトの`http://localhost:11311/`に戻します。 + +## キーボードで操縦する + +実行手順はhogehoge +を参照してください。 +PCから操縦する場合はネットワークと環境変数を設定してください。 + +## ジョイスティックコントローラで操縦する + +実行手順はhogehoge +を参照してください。 +PCから操縦する場合はネットワークと環境変数を設定してください。 + +実行手順はhgehoge +を参照してください。 +PCから操縦する場合はネットワークと環境変数を設定してください。 + +## LiDARでSLAM + +実行手順はhogehoge +を参照してください。 +SLAMパッケージをPCで起動する場合はネットワークと環境変数を設定してください。 + +## LiDARでナビゲーション + +実行手順はhogehoge +を参照してください。 +ナビゲーションパッケージをPCで起動する場合はネットワークと環境変数を設定してください。 \ No newline at end of file diff --git a/docs/raspicat/ros/simulator.md b/docs/raspicat/ros/simulator.md new file mode 100644 index 0000000..e69de29 diff --git a/mkdocs.yml b/mkdocs.yml index 80613c4..53c4adb 100644 --- a/mkdocs.yml +++ b/mkdocs.yml @@ -105,6 +105,14 @@ nav: - 5. 関連リンク集: jnmouse/others.md - Raspberry Pi Cat: - 1. 製品について: raspicat/products.md + - 2. デバイスドライバ: + - 1. インストール: raspicat/driver/install.md + - 2. サンプルを動かす: raspicat/driver/samples.md + - 3. ROS: + - 1. ROSのインストール: raspicat/ros/install.md + - 2. ROSパッケージのインストール: raspicat/ros/package-install.md + - 3. ROSサンプルの実行: raspicat/ros/samples.md + - 4. シミュレータの実行: raspicat/ros/simulator.md - USB出力9軸IMUセンサモジュール: - 1. 製品について: usb9imu/products.md - 2. 関連リンク集: usb9imu/others.md From e1ce269341f36255ffbe0f4bc57057e2e8502fde Mon Sep 17 00:00:00 2001 From: uhobeike Date: Mon, 20 Jun 2022 16:29:31 +0900 Subject: [PATCH 02/38] Add ros raspicat-pkg install --- docs/raspicat/ros/package-install.md | 15 +++++++++------ 1 file changed, 9 insertions(+), 6 deletions(-) diff --git a/docs/raspicat/ros/package-install.md b/docs/raspicat/ros/package-install.md index 2db7f6c..c9b52fa 100644 --- a/docs/raspicat/ros/package-install.md +++ b/docs/raspicat/ros/package-install.md @@ -20,18 +20,21 @@ robot: Raspberry Pi Cat ## ROSパッケージのインストール 制御用のパッケージである -[ryuichiueda/raspimouse_ros_2](https://github.com/ryuichiueda/raspimouse_ros_2){target=_blank rel=noopener} -と、サンプル集パッケージ -[rt-net/raspimouse_ros_examples](https://github.com/rt-net/raspimouse_ros_examples){target=_blank rel=noopener} -および、ナビゲーション用のパッケージ -[rt-net/raspimouse_slam_navigation_ros](https://github.com/rt-net/raspimouse_slam_navigation_ros){target=_blank rel=noopener} +[rt-net/raspimouse](https://github.com/rt-net/raspimouse){target=_blank rel=noopener}、[rt-net/raspicat_ros](https://github.com/rt-net/raspicat_ros){target=_blank rel=noopener} +SLAM/ナビゲーション用のパッケージである +[rt-net/raspicat_slam_navigation](https://github.com/rt-net/raspicat_slam_navigation){target=_blank rel=noopener} +シミュレータ用のパッケージである +[rt-net/raspicat_sim](https://github.com/rt-net/raspicat_sim.git){target=_blank rel=noopener} +RaspberryPiCat用のURDF記述マクロを含んだパッケージである +[rt-net/raspicat_description](https://github.com/rt-net/raspicat_description){target=_blank rel=noopener} をダウンロードしてインストールします。 ```sh -$ source /opt/ros/noetic/setup.bash +$ source /opt/ros/melodic/setup.bash $ mkdir -p ~/catkin_ws/src $ cd ~/catkin_ws/src # Clone ROS packages + $ git clone -b $ROS_DISTRO-devel https://github.com/rt-net/raspimouse.git $ git clone -b $ROS_DISTRO-devel https://github.com/rt-net/raspicat_ros.git $ git clone -b $ROS_DISTRO-devel https://github.com/rt-net/raspicat_slam_navigation.git From 25a0db31846c5b12f8866747a8a5466842569cee Mon Sep 17 00:00:00 2001 From: uhobeike Date: Mon, 20 Jun 2022 16:31:55 +0900 Subject: [PATCH 03/38] Add ros raspicat-sample --- docs/raspicat/ros/samples.md | 129 +++++++++++++++++++++++++++++++---- 1 file changed, 114 insertions(+), 15 deletions(-) diff --git a/docs/raspicat/ros/samples.md b/docs/raspicat/ros/samples.md index 35e2f33..d410a3e 100644 --- a/docs/raspicat/ros/samples.md +++ b/docs/raspicat/ros/samples.md @@ -1,6 +1,6 @@ --- title: ROSの実行 -robot: Raspberry Pi Mouse +robot: Raspberry Pi Cat --- # ROSを使用してRaspberry Pi Catの制御 @@ -39,30 +39,129 @@ $ export ROS_MASTER_URI=http://192.168.11.89:11311/ ネットワーク接続を切る場合は、 `ROS_MASTER_URI`をデフォルトの`http://localhost:11311/`に戻します。 -## キーボードで操縦する +##　注意事項 -実行手順はhogehoge -を参照してください。 PCから操縦する場合はネットワークと環境変数を設定してください。 +## キーボードで操縦する + +操作方法はターミナルに出力されます。 +#### Raspberry Pi +```sh +$ roslaunch raspicat_bringup raspicat_bringup.launch +``` + +#### Remote PC +```sh +$ roslaunch raspicat_bringup teleop.launch joy:=false +``` + ## ジョイスティックコントローラで操縦する -実行手順はhogehoge +操作方法は[こちら](https://github.com/rt-net/raspicat_ros/blob/main/raspicat_gamepad_controller/README.ja.md)のパッケージを参照してください。 を参照してください。 -PCから操縦する場合はネットワークと環境変数を設定してください。 -実行手順はhgehoge -を参照してください。 -PCから操縦する場合はネットワークと環境変数を設定してください。 +=== "ジョイスティックコントローラをRemote PCに接続した場合" + #### Raspberry Pi + ```sh + $ roslaunch raspicat_bringup raspicat_bringup.launch + ``` + #### Remote PC + ```sh + $ roslaunch raspicat_bringup teleop.launch joy:=true + ``` +=== "ジョイスティックコントローラをRaspberry Pi 4に接続した場合" + #### Raspberry Pi + ```sh + $ roslaunch raspicat_bringup raspicat_bringup.launch joy:=true + ``` ## LiDARでSLAM -実行手順はhogehoge -を参照してください。 -SLAMパッケージをPCで起動する場合はネットワークと環境変数を設定してください。 +ジョイスティックコントローラおよびキーボードにてRaspberry Pi Catを操作出来る状態でSLAMを実行します。 +`SLAM`は`Remote PC`上で実行するとします。 +[raspicat_slam](https://github.com/rt-net/raspicat_slam_navigation/tree/main/raspicat_slam)パッケージにて実行が +可能なSLAMは、[gmapping](http://wiki.ros.org/gmapping)、[cartographer](http://wiki.ros.org/cartographer)、[slam_toolbox](http://wiki.ros.org/slam_toolbox)の3種類です。 +rosbagを使用した場合はオフラインでSLAMを行うことができます。 + +### gmapping + +=== "Online SLAM" + #### Raspberry Pi + ```sh + $ roslaunch raspicat_bringup raspicat_bringup.launch + ``` + #### Remote PC + ```sh + $ roslaunch raspicat_slam raspicat_gmapping.launch joy:=true + $ roslaunch raspicat_slam map_save.launch map_file:=your map + ``` + +=== "Offline SLAM" + #### Remote PC + ```sh + $ roslaunch raspicat_slam raspicat_gmapping.launch rosbag:=true rosbag_rate:=1 rosbag_topics:="/odom /scan /tf /tf_static" rosbag_filename:=your rosbag + $ roslaunch raspicat_slam map_save.launch map_file:=your map + ``` + +### cartographer +=== "Online SLAM" + #### Raspberry Pi + ```sh + $ roslaunch raspicat_bringup raspicat_bringup.launch + ``` + #### Remote PC + ```sh + $ roslaunch raspicat_slam raspicat_cartographer.launch joy:=true + $ roslaunch raspicat_slam map_save.launch map_file:=your map + ``` + +=== "Offline SLAM" + #### Remote PC + ```sh + $ roslaunch raspicat_slam raspicat_cartographer.launch rosbag:=true rosbag_rate:=1 rosbag_topics:="/odom /scan /tf /tf_static" rosbag_filename:=your rosbag + $ roslaunch raspicat_slam map_save.launch map_file:=your map + ``` + +### slam_toolbox +=== "Online SLAM" + #### Raspberry Pi + ```sh + $ roslaunch raspicat_bringup raspicat_bringup.launch + ``` + #### Remote PC + ```sh + $ roslaunch raspicat_slam raspicat_slam_toolbox.launch joy:=true + $ roslaunch raspicat_slam map_save.launch map_file:=your map + ``` + +=== "Offline SLAM" + #### Remote PC + ```sh + $ roslaunch raspicat_slam raspicat_slam_toolbox.launch rosbag:=true rosbag_rate:=1 rosbag_topics:="/odom /scan /tf /tf_static" rosbag_filename:=your rosbag + $ roslaunch raspicat_slam map_save.launch map_file:=your map + ``` ## LiDARでナビゲーション -実行手順はhogehoge -を参照してください。 -ナビゲーションパッケージをPCで起動する場合はネットワークと環境変数を設定してください。 \ No newline at end of file +### move_base +#### Raspberry Pi +```sh +$ roscore +$ roslaunch raspicat_bringup raspicat_bringup.launvch lidar_ether:=false lidar_usb:=true joy:=false +``` +#### Remote PC +```sh +$ roslaunch raspicat_navigation raspicat_navigation.launch navigation:="move_base" +``` + +### neonavigation +#### Raspberry Pi +```sh +$ roscore +$ roslaunch raspicat_bringup raspicat_bringup.launvch lidar_ether:=false lidar_usb:=true joy:=false +``` +#### Remote PC +```sh +$ roslaunch raspicat_navigation raspicat_navigation.launch navigation:="neonav" +``` \ No newline at end of file From 042d97b289ce7bd12c8f73e0c881943450a4d3a8 Mon Sep 17 00:00:00 2001 From: uhobeike Date: Mon, 27 Jun 2022 16:28:08 +0900 Subject: [PATCH 04/38] Update --- docs/raspicat/driver/samples.md | 5 +---- docs/raspicat/ros/package-install.md | 8 +++----- docs/raspicat/ros/samples.md | 2 +- 3 files changed, 5 insertions(+), 10 deletions(-) diff --git a/docs/raspicat/driver/samples.md b/docs/raspicat/driver/samples.md index 158338a..2ba0709 100644 --- a/docs/raspicat/driver/samples.md +++ b/docs/raspicat/driver/samples.md @@ -157,7 +157,4 @@ COUNTER_L=/dev/rtcounter_l1 # l0からl1に書き換え ```sh $ bash step6.sh -``` - -Raspberry Pi 3では通信に失敗する場合（常に0が返ってくるなど）があります。I2Cのbaudrate設定を変更してください。 -https://github.com/rt-net/RaspberryPiMouse#%E3%83%91%E3%83%AB%E3%82%B9%E3%82%AB%E3%82%A6%E3%83%B3%E3%82%BF%E3%81%AB%E3%81%A4%E3%81%84%E3%81%A6 \ No newline at end of file +``` \ No newline at end of file diff --git a/docs/raspicat/ros/package-install.md b/docs/raspicat/ros/package-install.md index c9b52fa..a22927d 100644 --- a/docs/raspicat/ros/package-install.md +++ b/docs/raspicat/ros/package-install.md @@ -5,7 +5,7 @@ robot: Raspberry Pi Cat # ROSパッケージのインストール -このページでは、Raspberry Pi CatへのROSサンプル集のインストール方法を説明します。 +このページでは、Raspberry Pi/Ubuntu PCへのROSパッケージのインストール方法を説明します。 ## 前提条件 @@ -23,22 +23,20 @@ robot: Raspberry Pi Cat [rt-net/raspimouse](https://github.com/rt-net/raspimouse){target=_blank rel=noopener}、[rt-net/raspicat_ros](https://github.com/rt-net/raspicat_ros){target=_blank rel=noopener} SLAM/ナビゲーション用のパッケージである [rt-net/raspicat_slam_navigation](https://github.com/rt-net/raspicat_slam_navigation){target=_blank rel=noopener} -シミュレータ用のパッケージである -[rt-net/raspicat_sim](https://github.com/rt-net/raspicat_sim.git){target=_blank rel=noopener} RaspberryPiCat用のURDF記述マクロを含んだパッケージである [rt-net/raspicat_description](https://github.com/rt-net/raspicat_description){target=_blank rel=noopener} をダウンロードしてインストールします。 ```sh +# Create workspace $ source /opt/ros/melodic/setup.bash $ mkdir -p ~/catkin_ws/src $ cd ~/catkin_ws/src -# Clone ROS packages +# Clone ROS packages $ git clone -b $ROS_DISTRO-devel https://github.com/rt-net/raspimouse.git $ git clone -b $ROS_DISTRO-devel https://github.com/rt-net/raspicat_ros.git $ git clone -b $ROS_DISTRO-devel https://github.com/rt-net/raspicat_slam_navigation.git -$ git clone https://github.com/rt-net/raspicat_sim.git $ git clone https://github.com/rt-net/raspicat_description.git # Install dependencies diff --git a/docs/raspicat/ros/samples.md b/docs/raspicat/ros/samples.md index d410a3e..b82e519 100644 --- a/docs/raspicat/ros/samples.md +++ b/docs/raspicat/ros/samples.md @@ -6,7 +6,7 @@ robot: Raspberry Pi Cat # ROSを使用してRaspberry Pi Catの制御 このページでは -マッピングからナビゲーションまでの実行方法を説明します。 +SLAMからナビゲーションまでの実行方法を説明します。 サンプルを実行する場合は下記コマンドを実行し、 ROSとパッケージを読み込んでください。 From faa1d2f47653676e46d3bb5d1d478cc7e50ef095 Mon Sep 17 00:00:00 2001 From: uhobeike Date: Mon, 27 Jun 2022 16:29:10 +0900 Subject: [PATCH 05/38] Add raspicat_sim execute --- docs/raspicat/ros/simulator.md | 154 +++++++++++++++++++++++++++++++++ 1 file changed, 154 insertions(+) diff --git a/docs/raspicat/ros/simulator.md b/docs/raspicat/ros/simulator.md index e69de29..25259ef 100644 --- a/docs/raspicat/ros/simulator.md +++ b/docs/raspicat/ros/simulator.md @@ -0,0 +1,154 @@ +--- +title: シミュレータの実行 +robot: Raspberry Pi Cat +--- + +# シミュレータの実行 + + +このページでは、 +[raspicat_sim](https://github.com/rt-net/raspicat_sim){target=_blank rel=noopener} +パッケージを用いたシミュレーションのセットアップ方法と実行方法を説明します。 + +シミュレーション環境はROSインストール済みのUbuntu PC上に構築します。 +インストール方法については[ROSのインストール](./install.md)を参照してください。 + +## パッケージのダウンロードとインストール + +制御用のパッケージである +[rt-net/raspimouse](https://github.com/rt-net/raspimouse){target=_blank rel=noopener}、[rt-net/raspicat_ros](https://github.com/rt-net/raspicat_ros){target=_blank rel=noopener} +SLAM/ナビゲーション用のパッケージである +[rt-net/raspicat_slam_navigation](https://github.com/rt-net/raspicat_slam_navigation){target=_blank rel=noopener} +シミュレータ用のパッケージである +[rt-net/raspicat_sim](https://github.com/rt-net/raspicat_sim.git){target=_blank rel=noopener} +RaspberryPiCat用のURDF記述マクロを含んだパッケージである +[rt-net/raspicat_description](https://github.com/rt-net/raspicat_description){target=_blank rel=noopener} +をダウンロードしてインストールします。 + +```sh +# Create workspace +$ source /opt/ros/melodic/setup.bash +$ mkdir -p ~/catkin_ws/src +$ cd ~/catkin_ws/src + +# Clone ROS packages +$ git clone -b $ROS_DISTRO-devel https://github.com/rt-net/raspimouse.git +$ git clone -b $ROS_DISTRO-devel https://github.com/rt-net/raspicat_ros.git +$ git clone -b $ROS_DISTRO-devel https://github.com/rt-net/raspicat_slam_navigation.git +$ git clone https://github.com/rt-net/raspicat_sim.git +$ git clone https://github.com/rt-net/raspicat_description.git + +# Install dependencies +$ rosdep update +$ rosdep install -r -y -i --from-paths raspicat* raspimouse* + +# make & install +$ cd ~/catkin_ws && catkin_make +$ source ~/catkin_ws/devel/setup.bash + +# Gazeboで使用するハードウェアモデルデータをダウンロード +$ rosrun raspicat_gazebo download_gazebo_models.sh +``` + +## シミュレータ環境を立ち上げる +#### Gazeboのみ立ち上げ +```sh +$ roslaunch raspicat_gazebo raspicat_with_iscas_museum.launch rviz:=false +``` +#### GazeboとRVizの立ち上げ +```sh +$ roslaunch raspicat_gazebo raspicat_with_iscas_museum.launch +``` + +## キーボードで操縦する + +```sh +# シミュレータの起動 +$ roslaunch raspicat_gazebo raspicat_with_iscas_museum.launch + +# キーボード操縦用ノードの立ち上げ（別のターミナルでコマンドを実行） +$ roslaunch raspicat_bringup teleop.launch joy:=true +``` + +## ジョイスティックコントローラで操縦する + +```sh +# シミュレータの起動 +$ roslaunch raspicat_gazebo raspicat_with_iscas_museum.launch + +# ジョイスティックコントローラ操縦用ノードの立ち上げ（別のターミナルでコマンドを実行） +$ roslaunch raspicat_bringup teleop.launch joy:=true +``` + +## シミュレータ環境でSLAM + +#### キーボードで操縦 +=== "gmapping" + ```sh + # シミュレータの起動 + $ roslaunch raspicat_gazebo raspicat_with_iscas_museum.launch + + # gmappingの実行 + $ roslaunch raspicat_slam raspicat_gmapping.launch joy:=false + ``` +=== "cartographer" + ```sh + # シミュレータの起動 + $ roslaunch raspicat_gazebo raspicat_with_iscas_museum.launch + + # cartographerの実行 + $ roslaunch raspicat_slam raspicat_cartographer.launch joy:=false + ``` +=== "slam_toolbox" + ```sh + # シミュレータの起動 + $ roslaunch raspicat_gazebo raspicat_with_iscas_museum.launch + + # slam_toolboxの実行 + $ roslaunch raspicat_slam raspicat_slam_toolbox.launch joy:=false + ``` + +#### ジョイスティックコントローラで操縦 +=== "gmapping" + ```sh + # シミュレータの起動 + $ roslaunch raspicat_gazebo raspicat_with_iscas_museum.launch + + # gmappingの実行 + $ roslaunch raspicat_slam raspicat_gmapping.launch joy:=true + ``` +=== "cartographer" + ```sh + # シミュレータの起動 + $ roslaunch raspicat_gazebo raspicat_with_iscas_museum.launch + + # cartographerの実行 + $ roslaunch raspicat_slam raspicat_cartographer.launch joy:=true + ``` +=== "slam_toolbox" + ```sh + # シミュレータの起動 + $ roslaunch raspicat_gazebo raspicat_with_iscas_museum.launch + + # slam_toolboxの実行 + $ roslaunch raspicat_slam raspicat_slam_toolbox.launch joy:=true + ``` + +## シミュレータ環境でナビゲーション + +=== "move_base" + ```sh + # シミュレータの起動 + $ roslaunch raspicat_gazebo raspicat_with_iscas_museum.launch + + # move_baseの実行 + $ roslaunch raspicat_navigation raspicat_navigation.launch navigation:="move_base" + ``` +=== "neonavigation" + ```sh + # シミュレータの起動 + $ roslaunch raspicat_gazebo raspicat_with_iscas_museum.launch + + # neonavigationの実行 + $ roslaunch raspicat_navigation raspicat_navigation.launch navigation:="neonav" + ``` \ No newline at end of file From 8596fa3ff6bbf6aa1396388ecd321e829020e320 Mon Sep 17 00:00:00 2001 From: uhobeike Date: Mon, 27 Jun 2022 20:16:10 +0900 Subject: [PATCH 06/38] Fix --- docs/raspicat/ros/simulator.md | 18 +++++++++--------- 1 file changed, 9 insertions(+), 9 deletions(-) diff --git a/docs/raspicat/ros/simulator.md b/docs/raspicat/ros/simulator.md index 25259ef..f12947b 100644 --- a/docs/raspicat/ros/simulator.md +++ b/docs/raspicat/ros/simulator.md @@ -67,7 +67,7 @@ $ roslaunch raspicat_gazebo raspicat_with_iscas_museum.launch $ roslaunch raspicat_gazebo raspicat_with_iscas_museum.launch # キーボード操縦用ノードの立ち上げ（別のターミナルでコマンドを実行） -$ roslaunch raspicat_bringup teleop.launch joy:=true +$ roslaunch raspicat_bringup teleop.launch joy:=false ``` ## ジョイスティックコントローラで操縦する @@ -86,7 +86,7 @@ $ roslaunch raspicat_bringup teleop.launch joy:=true === "gmapping" ```sh # シミュレータの起動 - $ roslaunch raspicat_gazebo raspicat_with_iscas_museum.launch + $ roslaunch raspicat_gazebo raspicat_with_iscas_museum.launch rviz:=false # gmappingの実行 $ roslaunch raspicat_slam raspicat_gmapping.launch joy:=false @@ -94,7 +94,7 @@ $ roslaunch raspicat_bringup teleop.launch joy:=true === "cartographer" ```sh # シミュレータの起動 - $ roslaunch raspicat_gazebo raspicat_with_iscas_museum.launch + $ roslaunch raspicat_gazebo raspicat_with_iscas_museum.launch rviz:=false # cartographerの実行 $ roslaunch raspicat_slam raspicat_cartographer.launch joy:=false @@ -102,7 +102,7 @@ $ roslaunch raspicat_bringup teleop.launch joy:=true === "slam_toolbox" ```sh # シミュレータの起動 - $ roslaunch raspicat_gazebo raspicat_with_iscas_museum.launch + $ roslaunch raspicat_gazebo raspicat_with_iscas_museum.launch rviz:=false # slam_toolboxの実行 $ roslaunch raspicat_slam raspicat_slam_toolbox.launch joy:=false @@ -112,7 +112,7 @@ $ roslaunch raspicat_bringup teleop.launch joy:=true === "gmapping" ```sh # シミュレータの起動 - $ roslaunch raspicat_gazebo raspicat_with_iscas_museum.launch + $ roslaunch raspicat_gazebo raspicat_with_iscas_museum.launch rviz:=false # gmappingの実行 $ roslaunch raspicat_slam raspicat_gmapping.launch joy:=true @@ -120,7 +120,7 @@ $ roslaunch raspicat_bringup teleop.launch joy:=true === "cartographer" ```sh # シミュレータの起動 - $ roslaunch raspicat_gazebo raspicat_with_iscas_museum.launch + $ roslaunch raspicat_gazebo raspicat_with_iscas_museum.launch rviz:=false # cartographerの実行 $ roslaunch raspicat_slam raspicat_cartographer.launch joy:=true @@ -128,7 +128,7 @@ $ roslaunch raspicat_bringup teleop.launch joy:=true === "slam_toolbox" ```sh # シミュレータの起動 - $ roslaunch raspicat_gazebo raspicat_with_iscas_museum.launch + $ roslaunch raspicat_gazebo raspicat_with_iscas_museum.launch rviz:=false # slam_toolboxの実行 $ roslaunch raspicat_slam raspicat_slam_toolbox.launch joy:=true @@ -139,7 +139,7 @@ $ roslaunch raspicat_bringup teleop.launch joy:=true === "move_base" ```sh # シミュレータの起動 - $ roslaunch raspicat_gazebo raspicat_with_iscas_museum.launch + $ roslaunch raspicat_gazebo raspicat_with_iscas_museum.launch rviz:=false # move_baseの実行 $ roslaunch raspicat_navigation raspicat_navigation.launch navigation:="move_base" @@ -147,7 +147,7 @@ $ roslaunch raspicat_bringup teleop.launch joy:=true === "neonavigation" ```sh # シミュレータの起動 - $ roslaunch raspicat_gazebo raspicat_with_iscas_museum.launch + $ roslaunch raspicat_gazebo raspicat_with_iscas_museum.launch rviz:=false # neonavigationの実行 $ roslaunch raspicat_navigation raspicat_navigation.launch navigation:="neonav" From 8e1e146c119ebc5105c561a58617b68e659e1b06 Mon Sep 17 00:00:00 2001 From: uhobeike Date: Fri, 8 Jul 2022 21:49:57 +0900 Subject: [PATCH 07/38] Fix --- docs/raspicat/ros/install.md | 2 +- docs/raspicat/ros/package-install.md | 3 ++ docs/raspicat/ros/samples.md | 66 ++++++++++++++++------------ 3 files changed, 41 insertions(+), 30 deletions(-) diff --git a/docs/raspicat/ros/install.md b/docs/raspicat/ros/install.md index 95ef1c7..571e8df 100644 --- a/docs/raspicat/ros/install.md +++ b/docs/raspicat/ros/install.md @@ -66,7 +66,7 @@ $ source ~/.bashrc ### Raspberry Pi -非公式のインストールスクリプトを使うことで簡単にROS / ROS 2をインストールできます。 +非公式のインストールスクリプトを使うことで簡単にROSをインストールできます。 このROSインストールスクリプトは`curl`を使用します。以下のコマンドでインストールします。 diff --git a/docs/raspicat/ros/package-install.md b/docs/raspicat/ros/package-install.md index a22927d..e357e31 100644 --- a/docs/raspicat/ros/package-install.md +++ b/docs/raspicat/ros/package-install.md @@ -27,6 +27,9 @@ RaspberryPiCat用のURDF記述マクロを含んだパッケージである [rt-net/raspicat_description](https://github.com/rt-net/raspicat_description){target=_blank rel=noopener} をダウンロードしてインストールします。 +!!! Tip + Raspberry PiとPCの両方にダウンロードおよびインストールを行います。 + ```sh # Create workspace $ source /opt/ros/melodic/setup.bash diff --git a/docs/raspicat/ros/samples.md b/docs/raspicat/ros/samples.md index b82e519..5d56115 100644 --- a/docs/raspicat/ros/samples.md +++ b/docs/raspicat/ros/samples.md @@ -6,7 +6,7 @@ robot: Raspberry Pi Cat # ROSを使用してRaspberry Pi Catの制御 このページでは -SLAMからナビゲーションまでの実行方法を説明します。 +実機を使用した、SLAMからナビゲーションまでの実行方法を説明します。 サンプルを実行する場合は下記コマンドを実行し、 ROSとパッケージを読み込んでください。 @@ -39,9 +39,8 @@ $ export ROS_MASTER_URI=http://192.168.11.89:11311/ ネットワーク接続を切る場合は、 `ROS_MASTER_URI`をデフォルトの`http://localhost:11311/`に戻します。 -##　注意事項 - -PCから操縦する場合はネットワークと環境変数を設定してください。 +!!! Warning + PCから操縦する場合はネットワークと環境変数を設定してください。 ## キーボードで操縦する @@ -51,7 +50,7 @@ PCから操縦する場合はネットワークと環境変数を設定してく $ roslaunch raspicat_bringup raspicat_bringup.launch ``` -#### Remote PC +#### PC ```sh $ roslaunch raspicat_bringup teleop.launch joy:=false ``` @@ -61,12 +60,12 @@ $ roslaunch raspicat_bringup teleop.launch joy:=false 操作方法は[こちら](https://github.com/rt-net/raspicat_ros/blob/main/raspicat_gamepad_controller/README.ja.md)のパッケージを参照してください。 を参照してください。 -=== "ジョイスティックコントローラをRemote PCに接続した場合" +=== "ジョイスティックコントローラをPCに接続した場合" #### Raspberry Pi ```sh $ roslaunch raspicat_bringup raspicat_bringup.launch ``` - #### Remote PC + #### PC ```sh $ roslaunch raspicat_bringup teleop.launch joy:=true ``` @@ -79,10 +78,15 @@ $ roslaunch raspicat_bringup teleop.launch joy:=false ## LiDARでSLAM ジョイスティックコントローラおよびキーボードにてRaspberry Pi Catを操作出来る状態でSLAMを実行します。 -`SLAM`は`Remote PC`上で実行するとします。 -[raspicat_slam](https://github.com/rt-net/raspicat_slam_navigation/tree/main/raspicat_slam)パッケージにて実行が +ここでは、`PC`上にて`SLAM`を実行する方法を紹介します。 +[raspicat_slam](https://github.com/rt-net/raspicat_slam_navigation/tree/main/raspicat_slam) +パッケージで実行が 可能なSLAMは、[gmapping](http://wiki.ros.org/gmapping)、[cartographer](http://wiki.ros.org/cartographer)、[slam_toolbox](http://wiki.ros.org/slam_toolbox)の3種類です。 -rosbagを使用した場合はオフラインでSLAMを行うことができます。 +`rosbag`を使用する場合はオフラインでSLAMを行うことができます。 + +!!! Warning + `Raspberry Pi`と`PC`間で通信を行い、`PC`上で`SLAM`を実行する場合は、時刻の同期が必要です。 + これは、`tf`関連のエラーを防ぐためです。 ### gmapping @@ -91,17 +95,17 @@ rosbagを使用した場合はオフラインでSLAMを行うことができま ```sh $ roslaunch raspicat_bringup raspicat_bringup.launch ``` - #### Remote PC + #### PC ```sh $ roslaunch raspicat_slam raspicat_gmapping.launch joy:=true - $ roslaunch raspicat_slam map_save.launch map_file:=your map + $ roslaunch raspicat_slam map_save.launch map_file:=map path ``` === "Offline SLAM" - #### Remote PC + #### PC ```sh - $ roslaunch raspicat_slam raspicat_gmapping.launch rosbag:=true rosbag_rate:=1 rosbag_topics:="/odom /scan /tf /tf_static" rosbag_filename:=your rosbag - $ roslaunch raspicat_slam map_save.launch map_file:=your map + $ roslaunch raspicat_slam raspicat_gmapping.launch rosbag:=true rosbag_rate:=1 rosbag_topics:="/odom /scan /tf /tf_static" rosbag_filename:=rosbag path + $ roslaunch raspicat_slam map_save.launch map_file:=map path ``` ### cartographer @@ -110,17 +114,17 @@ rosbagを使用した場合はオフラインでSLAMを行うことができま ```sh $ roslaunch raspicat_bringup raspicat_bringup.launch ``` - #### Remote PC + #### PC ```sh $ roslaunch raspicat_slam raspicat_cartographer.launch joy:=true - $ roslaunch raspicat_slam map_save.launch map_file:=your map + $ roslaunch raspicat_slam map_save.launch map_file:=map path ``` === "Offline SLAM" - #### Remote PC + #### PC ```sh - $ roslaunch raspicat_slam raspicat_cartographer.launch rosbag:=true rosbag_rate:=1 rosbag_topics:="/odom /scan /tf /tf_static" rosbag_filename:=your rosbag - $ roslaunch raspicat_slam map_save.launch map_file:=your map + $ roslaunch raspicat_slam raspicat_cartographer.launch rosbag:=true rosbag_rate:=1 rosbag_topics:="/odom /scan /tf /tf_static" rosbag_filename:=rosbag path + $ roslaunch raspicat_slam map_save.launch map_file:=map path ``` ### slam_toolbox @@ -129,28 +133,32 @@ rosbagを使用した場合はオフラインでSLAMを行うことができま ```sh $ roslaunch raspicat_bringup raspicat_bringup.launch ``` - #### Remote PC + #### PC ```sh $ roslaunch raspicat_slam raspicat_slam_toolbox.launch joy:=true - $ roslaunch raspicat_slam map_save.launch map_file:=your map + $ roslaunch raspicat_slam map_save.launch map_file:=map path ``` === "Offline SLAM" - #### Remote PC + #### PC ```sh - $ roslaunch raspicat_slam raspicat_slam_toolbox.launch rosbag:=true rosbag_rate:=1 rosbag_topics:="/odom /scan /tf /tf_static" rosbag_filename:=your rosbag - $ roslaunch raspicat_slam map_save.launch map_file:=your map + $ roslaunch raspicat_slam raspicat_slam_toolbox.launch rosbag:=true rosbag_rate:=1 rosbag_topics:="/odom /scan /tf /tf_static" rosbag_filename:=rosbag path + $ roslaunch raspicat_slam map_save.launch map_file:=map path ``` ## LiDARでナビゲーション +!!! Warning + `Raspberry Pi`と`PC`間で通信を行い、`PC`上で`Navigation`を実行する場合は、時刻の同期が必要です。 + これは、`tf`関連のエラーを防ぐためです。 + ### move_base #### Raspberry Pi ```sh $ roscore -$ roslaunch raspicat_bringup raspicat_bringup.launvch lidar_ether:=false lidar_usb:=true joy:=false +$ roslaunch raspicat_bringup raspicat_bringup.launch lidar_ether:=false lidar_usb:=true joy:=false ``` -#### Remote PC +#### PC ```sh $ roslaunch raspicat_navigation raspicat_navigation.launch navigation:="move_base" ``` @@ -159,9 +167,9 @@ $ roslaunch raspicat_navigation raspicat_navigation.launch navigation:="move_bas #### Raspberry Pi ```sh $ roscore -$ roslaunch raspicat_bringup raspicat_bringup.launvch lidar_ether:=false lidar_usb:=true joy:=false +$ roslaunch raspicat_bringup raspicat_bringup.launch lidar_ether:=false lidar_usb:=true joy:=false ``` -#### Remote PC +#### PC ```sh $ roslaunch raspicat_navigation raspicat_navigation.launch navigation:="neonav" ``` \ No newline at end of file From 00d50042ae45d9e5afa1f73214c387e033f0685d Mon Sep 17 00:00:00 2001 From: uhobeike Date: Mon, 11 Jul 2022 20:16:09 +0900 Subject: [PATCH 08/38] Update --- docs/raspicat/driver/install.md | 42 +++++++++++++++++++++++++++------ 1 file changed, 35 insertions(+), 7 deletions(-) diff --git a/docs/raspicat/driver/install.md b/docs/raspicat/driver/install.md index ccc8667..ec90df1 100644 --- a/docs/raspicat/driver/install.md +++ b/docs/raspicat/driver/install.md @@ -40,7 +40,7 @@ Raspberry Pi Catのデバイスドライバのソースファイルは $ 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。 + 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 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 @@ -84,8 +84,8 @@ $ make install [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。 -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。 -この例では、IPアドレスを`192.168.11.89`に固定します。 +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 ```txt network: ethernets: @@ -107,9 +107,37 @@ network: 2. `$ sudo netplan apply`を実行します 3. `$ ip addr`でWi-Fiに接続できているか確認します -### Ubuntu Serverで有線LANを使用して、ノートPCのネットワークを利用する +### 有線LANを使用し、PCのネットワークを利用する + +`Raspberry Pi`と`PC`間で有線LAN接続を行い、PCのネットワークを利用する手順について説明します。 -Wi-Fiに接続する以外にノートPCのネットワークを利用する方法があります。 -また、Raspberry Pi CatでROSを使用する場合はノートPCと有線LANで接続して通信を行う必要があるため手順を説明します。 +!!! Warning + `PC`は`Wi-Fi`に接続している必要があります。 -1. ノートPC側でEthernetの接続プロファイルを作成します +1. PC側でEthernetの接続プロファイルを作成します +`PROFILE-NAME`は任意の名前、`NIC-NAME`は`ip addr`コマンド等で調べたEthernetのインターフェイス名です。 +```sh +$ sudo apt install net-tools +$ nmcli connection add type ethernet con-name PROFILE-NAME ifname NIC-NAME ipv4.method shared +``` +2. プロファイルを作成後、プロファイルの適用を行います +`PROFILE-NAME`には、作成したプロファイル名を入れます。 +```sh +$ nmcli con up PROFILE-NAME ifname NIC-NAME +``` +3. `$ ip addr`で有線LAN接続ができているか確認します +4. Raspberry Piにssh接続 +Raspberry PiのIPアドレスを調べるために`arp-scan`コマンドを使用します。 +```sh +$ sudo apt install arp-scan +$ sudo arp-scan -l -I NIC-NAME +``` +Raspberry PiのIPアドレスが出てきたら、そのIPを使用しssh接続を行います。 +`Raspberry-Pi-IP`には、調べたIPアドレスを入れます。 +```sh +$ ssh ubuntu@Raspberry-Pi-IP +``` +5. ssh接続ができたら、Raspberry PiがPCのネットワークを利用できているか確認します +```sh +$ ping '8.8.8.8' +``` \ No newline at end of file From 52d309cbe089deaabb662c342ba430dbc1ea5686 Mon Sep 17 00:00:00 2001 From: uhobeike Date: Mon, 18 Jul 2022 18:16:15 +0900 Subject: [PATCH 09/38] Add Command explanation --- docs/raspicat/ros/samples.md | 96 ++++++++++++++++++++++++---------- docs/raspicat/ros/simulator.md | 27 +++++++++- 2 files changed, 92 insertions(+), 31 deletions(-) diff --git a/docs/raspicat/ros/samples.md b/docs/raspicat/ros/samples.md index 5d56115..c6ffc4e 100644 --- a/docs/raspicat/ros/samples.md +++ b/docs/raspicat/ros/samples.md @@ -47,11 +47,13 @@ $ export ROS_MASTER_URI=http://192.168.11.89:11311/ 操作方法はターミナルに出力されます。 #### Raspberry Pi ```sh +# センサやモータ用のノードの立ち上げ $ roslaunch raspicat_bringup raspicat_bringup.launch ``` #### PC ```sh +# キーボード用のノードの立ち上げ $ roslaunch raspicat_bringup teleop.launch joy:=false ``` @@ -63,15 +65,18 @@ $ roslaunch raspicat_bringup teleop.launch joy:=false === "ジョイスティックコントローラをPCに接続した場合" #### Raspberry Pi ```sh + # センサやモータ用のノードの立ち上げ $ roslaunch raspicat_bringup raspicat_bringup.launch ``` #### PC ```sh + # ジョイスティックコントローラ用のノードの立ち上げ $ roslaunch raspicat_bringup teleop.launch joy:=true ``` === "ジョイスティックコントローラをRaspberry Pi 4に接続した場合" #### Raspberry Pi ```sh + # センサやモータ用およびジョイスティックコントローラ用のノードの立ち上げ $ roslaunch raspicat_bringup raspicat_bringup.launch joy:=true ``` @@ -93,83 +98,116 @@ $ roslaunch raspicat_bringup teleop.launch joy:=false === "Online SLAM" #### Raspberry Pi ```sh + # センサやモータ用のノードの立ち上げ $ roslaunch raspicat_bringup raspicat_bringup.launch ``` #### PC ```sh + # gmappingの実行 $ roslaunch raspicat_slam raspicat_gmapping.launch joy:=true - $ roslaunch raspicat_slam map_save.launch map_file:=map path + + # 地図の保存 + $ roslaunch raspicat_slam map_save.launch map_file:=map-path ``` === "Offline SLAM" #### PC ```sh - $ roslaunch raspicat_slam raspicat_gmapping.launch rosbag:=true rosbag_rate:=1 rosbag_topics:="/odom /scan /tf /tf_static" rosbag_filename:=rosbag path - $ roslaunch raspicat_slam map_save.launch map_file:=map path + # rosbag playおよびgmappingの実行 + $ roslaunch raspicat_slam raspicat_gmapping.launch rosbag:=true rosbag_rate:=1 rosbag_topics:="/odom /scan /tf /tf_static" rosbag_filename:=rosbag-path + + # 地図の保存 + $ roslaunch raspicat_slam map_save.launch map_file:=map-path ``` ### cartographer === "Online SLAM" #### Raspberry Pi ```sh + # センサやモータ用のノードの立ち上げ $ roslaunch raspicat_bringup raspicat_bringup.launch ``` #### PC ```sh + # cartographerの実行 $ roslaunch raspicat_slam raspicat_cartographer.launch joy:=true - $ roslaunch raspicat_slam map_save.launch map_file:=map path + + # 地図の保存 + $ roslaunch raspicat_slam map_save.launch map_file:=map-path ``` === "Offline SLAM" #### PC ```sh - $ roslaunch raspicat_slam raspicat_cartographer.launch rosbag:=true rosbag_rate:=1 rosbag_topics:="/odom /scan /tf /tf_static" rosbag_filename:=rosbag path - $ roslaunch raspicat_slam map_save.launch map_file:=map path + # rosbag playおよびcartographerの実行 + $ roslaunch raspicat_slam raspicat_cartographer.launch rosbag:=true rosbag_rate:=1 rosbag_topics:="/odom /scan /tf /tf_static" rosbag_filename:=rosbag-path + + # 地図の保存 + $ roslaunch raspicat_slam map_save.launch map_file:=map-path ``` ### slam_toolbox === "Online SLAM" #### Raspberry Pi ```sh + # センサやモータ用のノードの立ち上げ $ roslaunch raspicat_bringup raspicat_bringup.launch ``` #### PC ```sh + # slam_toolboxの実行 $ roslaunch raspicat_slam raspicat_slam_toolbox.launch joy:=true - $ roslaunch raspicat_slam map_save.launch map_file:=map path + + # 地図の保存 + $ roslaunch raspicat_slam map_save.launch map_file:=map-path ``` === "Offline SLAM" #### PC ```sh - $ roslaunch raspicat_slam raspicat_slam_toolbox.launch rosbag:=true rosbag_rate:=1 rosbag_topics:="/odom /scan /tf /tf_static" rosbag_filename:=rosbag path - $ roslaunch raspicat_slam map_save.launch map_file:=map path + # rosbag playおよびslam_toolboxの実行 + $ roslaunch raspicat_slam raspicat_slam_toolbox.launch rosbag:=true rosbag_rate:=1 rosbag_topics:="/odom /scan /tf /tf_static" rosbag_filename:=rosbag-path + + # 地図の保存 + $ roslaunch raspicat_slam map_save.launch map_file:=map-path ``` ## LiDARでナビゲーション +SLAMによって作成した地図を使用し、Navigationを行います。 +[raspicat_navigation](https://github.com/rt-net/raspicat_slam_navigation/tree/main/raspicat_navigation) +パッケージで実行が +可能なNavigationは、[move_base](http://wiki.ros.org/move_base)、[neonavigation](https://github.com/at-wat/neonavigation)の2種類です。 + !!! Warning `Raspberry Pi`と`PC`間で通信を行い、`PC`上で`Navigation`を実行する場合は、時刻の同期が必要です。 これは、`tf`関連のエラーを防ぐためです。 -### move_base -#### Raspberry Pi -```sh -$ roscore -$ roslaunch raspicat_bringup raspicat_bringup.launch lidar_ether:=false lidar_usb:=true joy:=false -``` -#### PC -```sh -$ roslaunch raspicat_navigation raspicat_navigation.launch navigation:="move_base" -``` +=== "move_base" + #### Raspberry Pi + ```sh + $ roscore + + # センサやモータ用のノードの立ち上げ + $ roslaunch raspicat_bringup raspicat_bringup.launch lidar_ether:=false lidar_usb:=true joy:=false + ``` + #### PC + ```sh + + # move_baseの実行 + $ roslaunch raspicat_navigation raspicat_navigation.launch navigation:="move_base" mcl_map_file:=map-path navigation_map_file:=map-path + ``` -### neonavigation -#### Raspberry Pi -```sh -$ roscore -$ roslaunch raspicat_bringup raspicat_bringup.launch lidar_ether:=false lidar_usb:=true joy:=false -``` -#### PC -```sh -$ roslaunch raspicat_navigation raspicat_navigation.launch navigation:="neonav" -``` \ No newline at end of file +=== "neonavigation" + #### Raspberry Pi + ```sh + $ roscore + + # センサやモータ用のノードの立ち上げ + $ roslaunch raspicat_bringup raspicat_bringup.launch lidar_ether:=false lidar_usb:=true joy:=false + ``` + #### PC + ```sh + # neonavigationの実行 + $ roslaunch raspicat_navigation raspicat_navigation.launch navigation:="neonav" mcl_map_file:=map-path navigation_map_file:=map-path + ``` \ No newline at end of file diff --git a/docs/raspicat/ros/simulator.md b/docs/raspicat/ros/simulator.md index f12947b..cff7257 100644 --- a/docs/raspicat/ros/simulator.md +++ b/docs/raspicat/ros/simulator.md @@ -51,12 +51,17 @@ $ rosrun raspicat_gazebo download_gazebo_models.sh ``` ## シミュレータ環境を立ち上げる + +!!! Tip + 初回起動時において、Gazeboはモデルをインターネットからダウンロードするため、シミュレータ環境の立ち上げに時間が掛かります。 #### Gazeboのみ立ち上げ ```sh +#シミュレータの起動 $ roslaunch raspicat_gazebo raspicat_with_iscas_museum.launch rviz:=false ``` #### GazeboとRVizの立ち上げ ```sh +#シミュレータおよびRVizの起動 $ roslaunch raspicat_gazebo raspicat_with_iscas_museum.launch ``` @@ -90,6 +95,9 @@ $ roslaunch raspicat_bringup teleop.launch joy:=true # gmappingの実行 $ roslaunch raspicat_slam raspicat_gmapping.launch joy:=false + + # 地図の保存 + $ roslaunch raspicat_slam map_save.launch map_file:=map-path ``` === "cartographer" ```sh @@ -98,6 +106,9 @@ $ roslaunch raspicat_bringup teleop.launch joy:=true # cartographerの実行 $ roslaunch raspicat_slam raspicat_cartographer.launch joy:=false + + # 地図の保存 + $ roslaunch raspicat_slam map_save.launch map_file:=map-path ``` === "slam_toolbox" ```sh @@ -106,6 +117,9 @@ $ roslaunch raspicat_bringup teleop.launch joy:=true # slam_toolboxの実行 $ roslaunch raspicat_slam raspicat_slam_toolbox.launch joy:=false + + # 地図の保存 + $ roslaunch raspicat_slam map_save.launch map_file:=map-path ``` #### ジョイスティックコントローラで操縦 @@ -116,6 +130,9 @@ $ roslaunch raspicat_bringup teleop.launch joy:=true # gmappingの実行 $ roslaunch raspicat_slam raspicat_gmapping.launch joy:=true + + # 地図の保存 + $ roslaunch raspicat_slam map_save.launch map_file:=map-path ``` === "cartographer" ```sh @@ -124,6 +141,9 @@ $ roslaunch raspicat_bringup teleop.launch joy:=true # cartographerの実行 $ roslaunch raspicat_slam raspicat_cartographer.launch joy:=true + + # 地図の保存 + $ roslaunch raspicat_slam map_save.launch map_file:=map-path ``` === "slam_toolbox" ```sh @@ -132,6 +152,9 @@ $ roslaunch raspicat_bringup teleop.launch joy:=true # slam_toolboxの実行 $ roslaunch raspicat_slam raspicat_slam_toolbox.launch joy:=true + + # 地図の保存 + $ roslaunch raspicat_slam map_save.launch map_file:=map-path ``` ## シミュレータ環境でナビゲーション @@ -142,7 +165,7 @@ $ roslaunch raspicat_bringup teleop.launch joy:=true $ roslaunch raspicat_gazebo raspicat_with_iscas_museum.launch rviz:=false # move_baseの実行 - $ roslaunch raspicat_navigation raspicat_navigation.launch navigation:="move_base" + $ roslaunch raspicat_navigation raspicat_navigation.launch navigation:="move_base" mcl_map_file:=map-path navigation_map_file:=map-path ``` === "neonavigation" ```sh @@ -150,5 +173,5 @@ $ roslaunch raspicat_bringup teleop.launch joy:=true $ roslaunch raspicat_gazebo raspicat_with_iscas_museum.launch rviz:=false # neonavigationの実行 - $ roslaunch raspicat_navigation raspicat_navigation.launch navigation:="neonav" + $ roslaunch raspicat_navigation raspicat_navigation.launch navigation:="neonav" mcl_map_file:=map-path navigation_map_file:=map-path ``` \ No newline at end of file From 827c698283aaf1494bcde6103cf82b553008a35a Mon Sep 17 00:00:00 2001 From: uhobeike Date: Fri, 29 Jul 2022 19:55:42 +0900 Subject: [PATCH 10/38] Fix step6* explanation --- docs/raspicat/driver/samples.md | 41 +++++++++++++++++++++++---------- 1 file changed, 29 insertions(+), 12 deletions(-) diff --git a/docs/raspicat/driver/samples.md b/docs/raspicat/driver/samples.md index 2ba0709..18d8f24 100644 --- a/docs/raspicat/driver/samples.md +++ b/docs/raspicat/driver/samples.md @@ -134,27 +134,44 @@ LED0〜LED3が点滅します。 $ bash step6.sh ``` + 次のようにstep6.shを編集することで、符号付きのカウント値を読み取ることができます。 + + ```sh + # step6.sh + MOTOR_R=/dev/rtmotor_raw_r0 + MOTOR_L=/dev/rtmotor_raw_l0 + COUNTER_R=/dev/rtcounter_r1 # r0からr1に書き換え + COUNTER_L=/dev/rtcounter_l1 # l0からl1に書き換え + ``` + === "C" ```sh $ gcc step6.c -o step6 $ ./step6 ``` + 次のようにstep6.cを編集することで、符号付きのカウント値を読み取ることができます。 + C言語の場合は、書き換えたあとに`gcc`コマンドでコンパイルを行う必要があります。 + + ```sh + // step6.c + #define FILE_MOTOR_L "/dev/rtmotor_raw_l0" + #define FILE_MOTOR_R "/dev/rtmotor_raw_r0" + #define FILE_COUNT_L "/dev/rtcounter_l1" # r0からr1に書き換え + #define FILE_COUNT_R "/dev/rtcounter_r1" # l0からl1に書き換え + ``` + === "Python" ```sh $ python3 step6.py ``` -次のようにstep6.shを編集することで、符号付きのカウント値を読み取ることができます。 - -```sh -# step6.sh -MOTOR_R=/dev/rtmotor_raw_r0 -MOTOR_L=/dev/rtmotor_raw_l0 -COUNTER_R=/dev/rtcounter_r1 # r0からr1に書き換え -COUNTER_L=/dev/rtcounter_l1 # l0からl1に書き換え -``` + 次のようにstep6.pyを編集することで、符号付きのカウント値を読み取ることができます。 -```sh -$ bash step6.sh -``` \ No newline at end of file + ```sh + # step6.py + filename_motor_r = "/dev/rtmotor_raw_r0" + filename_motor_l = "/dev/rtmotor_raw_l0" + filename_count_r = "/dev/rtcounter_r1" # r0からr1に書き換え + filename_count_l = "/dev/rtcounter_l1" # l0からl1に書き換え + ``` \ No newline at end of file From 6004d0b9d1bfeb78ef05dc0529a21518a7521e6f Mon Sep 17 00:00:00 2001 From: uhobeike Date: Fri, 29 Jul 2022 19:56:34 +0900 Subject: [PATCH 11/38] Fix explanation emphasis --- docs/raspicat/driver/install.md | 14 +++++++------- docs/raspicat/ros/install.md | 4 ++-- docs/raspicat/ros/package-install.md | 2 +- docs/raspicat/ros/samples.md | 19 ++++++++----------- docs/raspicat/ros/simulator.md | 5 +++-- 5 files changed, 21 insertions(+), 23 deletions(-) diff --git a/docs/raspicat/driver/install.md b/docs/raspicat/driver/install.md index ec90df1..6b0a188 100644 --- a/docs/raspicat/driver/install.md +++ b/docs/raspicat/driver/install.md @@ -14,12 +14,12 @@ Raspberry Pi CatのLEDやモータを駆動するためには、 ## OSのインストール -Raspberry Pi Cat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 Cat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。 後ほどRaspberry Pi Catで**ROSを扱う場合はUbuntu Serverのインストールを推奨します**。 === "Ubuntu Server 18.04" - [こちらのリンク](http://cdimage.ubuntu.com/ubuntu/releases/18.04/release/)から`Ubuntu 18.04 server`のイメージをダウンロードします。 + [こちらのリンク](http://cdimage.ubuntu.com/ubuntu/releases/18.04/release/)から**Ubuntu 18.04 server**のイメージをダウンロードします。 ダウンロードしたイメージは[rpi-imager](https://www.raspberrypi.com/software/)等でSDカードに書き込みます。 @@ -47,11 +47,11 @@ Raspberry Pi Catのデバイスドライバのソースファイルは 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。 === "Raspberry Pi OS" - 1. `Raspberry Piの設定`を開きます + 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 + 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 + 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 ```sh @@ -109,10 +109,10 @@ network: ### 有線LANを使用し、PCのネットワークを利用する -`Raspberry Pi`と`PC`間で有線LAN接続を行い、PCのネットワークを利用する手順について説明します。 +**Raspberry Pi**と**PC**間で有線LAN接続を行い、PCのネットワークを利用する手順について説明します。 !!! Warning - `PC`は`Wi-Fi`に接続している必要があります。 + **PC**は**Wi-Fi**に接続している必要があります。 1. PC側でEthernetの接続プロファイルを作成します `PROFILE-NAME`は任意の名前、`NIC-NAME`は`ip addr`コマンド等で調べたEthernetのインターフェイス名です。 diff --git a/docs/raspicat/ros/install.md b/docs/raspicat/ros/install.md index 571e8df..adaf977 100644 --- a/docs/raspicat/ros/install.md +++ b/docs/raspicat/ros/install.md @@ -25,9 +25,9 @@ robot: Raspberry Pi Cat [https://wiki.ros.org/melodic/Installation/Ubuntu](https://wiki.ros.org/melodic/Installation/Ubuntu){target=_blank rel=noopener} -を参考に、`ROS Melodic`をインストールします。 +を参考に、**ROS Melodic**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。 +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} diff --git a/docs/raspicat/ros/package-install.md b/docs/raspicat/ros/package-install.md index e357e31..6a595bd 100644 --- a/docs/raspicat/ros/package-install.md +++ b/docs/raspicat/ros/package-install.md @@ -28,7 +28,7 @@ RaspberryPiCat用のURDF記述マクロを含んだパッケージである をダウンロードしてインストールします。 !!! Tip - Raspberry PiとPCの両方にダウンロードおよびインストールを行います。 + **Raspberry Pi**と**PC**の両方にダウンロードおよびインストールを行います。 ```sh # Create workspace diff --git a/docs/raspicat/ros/samples.md b/docs/raspicat/ros/samples.md index c6ffc4e..50f542c 100644 --- a/docs/raspicat/ros/samples.md +++ b/docs/raspicat/ros/samples.md @@ -60,7 +60,6 @@ $ roslaunch raspicat_bringup teleop.launch joy:=false ## ジョイスティックコントローラで操縦する 操作方法は[こちら](https://github.com/rt-net/raspicat_ros/blob/main/raspicat_gamepad_controller/README.ja.md)のパッケージを参照してください。 -を参照してください。 === "ジョイスティックコントローラをPCに接続した場合" #### Raspberry Pi @@ -83,15 +82,14 @@ $ roslaunch raspicat_bringup teleop.launch joy:=false ## LiDARでSLAM ジョイスティックコントローラおよびキーボードにてRaspberry Pi Catを操作出来る状態でSLAMを実行します。 -ここでは、`PC`上にて`SLAM`を実行する方法を紹介します。 +ここでは、**PC**上にて**SLAM**を実行する方法を紹介します。 [raspicat_slam](https://github.com/rt-net/raspicat_slam_navigation/tree/main/raspicat_slam) -パッケージで実行が -可能なSLAMは、[gmapping](http://wiki.ros.org/gmapping)、[cartographer](http://wiki.ros.org/cartographer)、[slam_toolbox](http://wiki.ros.org/slam_toolbox)の3種類です。 -`rosbag`を使用する場合はオフラインでSLAMを行うことができます。 +パッケージで実行が可能なSLAMは、[gmapping](http://wiki.ros.org/gmapping)、[cartographer](http://wiki.ros.org/cartographer)、[slam_toolbox](http://wiki.ros.org/slam_toolbox)の3種類です。 +**rosbag**を使用する場合はオフラインでSLAMを行うことができます。 !!! Warning - `Raspberry Pi`と`PC`間で通信を行い、`PC`上で`SLAM`を実行する場合は、時刻の同期が必要です。 - これは、`tf`関連のエラーを防ぐためです。 + **Raspberry Pi**と**PC**間で通信を行い、**PC**上で**SLAM**を実行する場合は、時刻の同期が必要です。 + これは、**tf**関連のエラーを防ぐためです。 ### gmapping @@ -176,12 +174,11 @@ $ roslaunch raspicat_bringup teleop.launch joy:=false SLAMによって作成した地図を使用し、Navigationを行います。 [raspicat_navigation](https://github.com/rt-net/raspicat_slam_navigation/tree/main/raspicat_navigation) -パッケージで実行が -可能なNavigationは、[move_base](http://wiki.ros.org/move_base)、[neonavigation](https://github.com/at-wat/neonavigation)の2種類です。 +パッケージで実行が可能なNavigationは、[move_base](http://wiki.ros.org/move_base)、[neonavigation](https://github.com/at-wat/neonavigation)の2種類です。 !!! Warning - `Raspberry Pi`と`PC`間で通信を行い、`PC`上で`Navigation`を実行する場合は、時刻の同期が必要です。 - これは、`tf`関連のエラーを防ぐためです。 + **Raspberry Pi**と**PC**間で通信を行い、**PC**上で**SLAM**を実行する場合は、時刻の同期が必要です。 + これは、**tf**関連のエラーを防ぐためです。 === "move_base" #### Raspberry Pi diff --git a/docs/raspicat/ros/simulator.md b/docs/raspicat/ros/simulator.md index cff7257..204102f 100644 --- a/docs/raspicat/ros/simulator.md +++ b/docs/raspicat/ros/simulator.md @@ -8,7 +8,7 @@ robot: Raspberry Pi Cat このページでは、 [raspicat_sim](https://github.com/rt-net/raspicat_sim){target=_blank rel=noopener} -パッケージを用いたシミュレーションのセットアップ方法と実行方法を説明します。 +パッケージを用いたシミュレーションのセットアップ方法と実行方法について説明します。 シミュレーション環境はROSインストール済みのUbuntu PC上に構築します。 インストール方法については[ROSのインストール](./install.md)を参照してください。 @@ -53,7 +53,8 @@ $ rosrun raspicat_gazebo download_gazebo_models.sh ## シミュレータ環境を立ち上げる !!! Tip - 初回起動時において、Gazeboはモデルをインターネットからダウンロードするため、シミュレータ環境の立ち上げに時間が掛かります。 + 初回起動時において、Gazeboはモデルをインターネットからダウンロードします。 + そのため、シミュレータ環境の立ち上げに時間が掛かります。 #### Gazeboのみ立ち上げ ```sh #シミュレータの起動 From 72186e5df011652a6841ca428f70331ddd4878f7 Mon Sep 17 00:00:00 2001 From: Daisuke Sato Date: Fri, 26 Aug 2022 14:47:08 +0900 Subject: [PATCH 12/38] Fix typo --- docs/raspicat/ros/samples.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docs/raspicat/ros/samples.md b/docs/raspicat/ros/samples.md index 50f542c..5e7abbb 100644 --- a/docs/raspicat/ros/samples.md +++ b/docs/raspicat/ros/samples.md @@ -177,7 +177,7 @@ SLAMによって作成した地図を使用し、Navigationを行います。 パッケージで実行が可能なNavigationは、[move_base](http://wiki.ros.org/move_base)、[neonavigation](https://github.com/at-wat/neonavigation)の2種類です。 !!! Warning - **Raspberry Pi**と**PC**間で通信を行い、**PC**上で**SLAM**を実行する場合は、時刻の同期が必要です。 + **Raspberry Pi**と**PC**間で通信を行い、**PC**上で**Navigation**を実行する場合は、時刻の同期が必要です。 これは、**tf**関連のエラーを防ぐためです。 === "move_base" From c4da070c65130c2004308a12c12c3d626331af25 Mon Sep 17 00:00:00 2001 From: Daisuke Sato Date: Fri, 26 Aug 2022 14:55:44 +0900 Subject: [PATCH 13/38] =?UTF-8?q?Raspberry=20Pi=20Cat=E3=81=AE=E9=96=A2?= =?UTF-8?q?=E9=80=A3=E3=83=AA=E3=83=B3=E3=82=AF=E9=9B=86=E8=BF=BD=E5=8A=A0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- docs/raspicat/others.md | 46 +++++++++++++++++++++++++++++++++++++++++ mkdocs.yml | 1 + 2 files changed, 47 insertions(+) create mode 100644 docs/raspicat/others.md diff --git a/docs/raspicat/others.md b/docs/raspicat/others.md new file mode 100644 index 0000000..1672999 --- /dev/null +++ b/docs/raspicat/others.md @@ -0,0 +1,46 @@ +--- +title: 関連リンク集 (Raspberry Pi Cat) +robot: Raspberry Pi Cat +--- + +# 関連リンク集 + +## ハードウェア + +- :octicons-mark-github-16: +ハードウェア資料集 +[rt-net/RaspberryPiCat_Hardware](https://github.com/rt-net/RaspberryPiCat_Hardware) + +![](https://rt-net.github.io/images/raspberry-pi-cat/raspicat_step_cad.png) + +## ソフトウェア + +### デバイスドライバ + +- :octicons-mark-github-16: +デバイスドライバ（Raspberry Pi Mouse共通） +[rt-net/RaspberryPiMouse](https://github.com/rt-net/RaspberryPiMouse) + +### ROS + +- :octicons-mark-github-16: +Raspberry Pi Cat制御用ROSパッケージ +[rt-net/raspicat_ros](https://github.com/rt-net/raspicat_ros) + +- :octicons-mark-github-16: +書籍「Raspberry Piで学ぶ ROSロボット入門」をベースにした +Raspberry Pi Cat用のROSパッケージ +[rt-net/raspicat_basic](https://github.com/rt-net/raspicat_basic) + +- :octicons-mark-github-16: +SLAM/Navigationサンプル集 +[rt-net/raspicat_slam_navigation](https://github.com/rt-net/raspicat_slam_navigation) + +- :octicons-mark-github-16: +Gazeboシミュレーションパッケージ +[rt-net/raspicat_sim](https://github.com/rt-net/raspicat_sim) + +- :octicons-mark-github-16: +URDFパッケージ +[rt-net/raspicat_description](https://github.com/rt-net/raspicat_description) + diff --git a/mkdocs.yml b/mkdocs.yml index 53c4adb..8991a88 100644 --- a/mkdocs.yml +++ b/mkdocs.yml @@ -113,6 +113,7 @@ nav: - 2. ROSパッケージのインストール: raspicat/ros/package-install.md - 3. ROSサンプルの実行: raspicat/ros/samples.md - 4. シミュレータの実行: raspicat/ros/simulator.md + - 4. 関連リンク集: raspicat/others.md - USB出力9軸IMUセンサモジュール: - 1. 製品について: usb9imu/products.md - 2. 関連リンク集: usb9imu/others.md From 144bd80166dc39e73fd21c2b97f93ea3d1528756 Mon Sep 17 00:00:00 2001 From: Daisuke Sato Date: Fri, 26 Aug 2022 20:52:30 +0900 Subject: [PATCH 14/38] =?UTF-8?q?=E3=82=B7=E3=83=9F=E3=83=A5=E3=83=AC?= =?UTF-8?q?=E3=83=BC=E3=82=BF=E9=96=A2=E4=BF=82=E6=95=B4=E7=90=86?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- docs/raspicat/simulator/install.md | 69 +++++++++++++ .../simulator.md => simulator/samples.md} | 96 +++++++++---------- mkdocs.yml | 6 +- 3 files changed, 117 insertions(+), 54 deletions(-) create mode 100644 docs/raspicat/simulator/install.md rename docs/raspicat/{ros/simulator.md => simulator/samples.md} (61%) diff --git a/docs/raspicat/simulator/install.md b/docs/raspicat/simulator/install.md new file mode 100644 index 0000000..2ba2675 --- /dev/null +++ b/docs/raspicat/simulator/install.md @@ -0,0 +1,69 @@ +--- +title: シミュレータのインストール +robot: Raspberry Pi Cat +--- + +# シミュレータのインストール + + +このページでは、 +[raspicat_sim](https://github.com/rt-net/raspicat_sim){target=_blank rel=noopener} +パッケージを用いたシミュレーションのセットアップ方法と実行方法について説明します。 + + +## 使用機材 {: #requirements} + +* ノートパソコン等のPC + * OS（**Ubuntu Desktop 18.04**）およびROS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のインストール](../ros/install.md)を参照してください。 + +## パッケージのダウンロードとインストール {: #install} + +制御用のパッケージである +[rt-net/raspimouse](https://github.com/rt-net/raspimouse){target=_blank rel=noopener}、[rt-net/raspicat_ros](https://github.com/rt-net/raspicat_ros){target=_blank rel=noopener} +SLAM/ナビゲーション用のパッケージである +[rt-net/raspicat_slam_navigation](https://github.com/rt-net/raspicat_slam_navigation){target=_blank rel=noopener} +シミュレータ用のパッケージである +[rt-net/raspicat_sim](https://github.com/rt-net/raspicat_sim.git){target=_blank rel=noopener} +RaspberryPiCat用のURDF記述マクロを含んだパッケージである +[rt-net/raspicat_description](https://github.com/rt-net/raspicat_description){target=_blank rel=noopener} +をダウンロードしてインストールします。 + +```sh +# Create workspace +$ source /opt/ros/melodic/setup.bash +$ mkdir -p ~/catkin_ws/src +$ cd ~/catkin_ws/src + +# Clone ROS packages +$ git clone -b $ROS_DISTRO-devel https://github.com/rt-net/raspimouse.git +$ git clone -b $ROS_DISTRO-devel https://github.com/rt-net/raspicat_ros.git +$ git clone -b $ROS_DISTRO-devel https://github.com/rt-net/raspicat_slam_navigation.git +$ git clone https://github.com/rt-net/raspicat_sim.git +$ git clone https://github.com/rt-net/raspicat_description.git + +# Install dependencies +$ rosdep update +$ rosdep install -r -y -i --from-paths raspicat* raspimouse* + +# make & install +$ cd ~/catkin_ws && catkin_make +$ source ~/catkin_ws/devel/setup.bash + +# Gazeboで使用するハードウェアモデルデータをダウンロード +$ rosrun raspicat_gazebo download_gazebo_models.sh +``` + +## 動作確認（キーボードで操縦） {: #teleop} + +!!! Tip + 初回起動時において、Gazeboはモデルをインターネットからダウンロードします。 + そのため、シミュレータ環境の立ち上げに時間がかかる場合があります。 + +```sh +# シミュレータの起動 +$ roslaunch raspicat_gazebo raspicat_with_iscas_museum.launch + +# キーボード操縦用ノードの立ち上げ（別のターミナルでコマンドを実行） +$ roslaunch raspicat_bringup teleop.launch joy:=false +``` diff --git a/docs/raspicat/ros/simulator.md b/docs/raspicat/simulator/samples.md similarity index 61% rename from docs/raspicat/ros/simulator.md rename to docs/raspicat/simulator/samples.md index 204102f..41302eb 100644 --- a/docs/raspicat/ros/simulator.md +++ b/docs/raspicat/simulator/samples.md @@ -1,60 +1,28 @@ --- -title: シミュレータの実行 +title: シミュレータでサンプルを動かす robot: Raspberry Pi Cat --- -# シミュレータの実行 +# シミュレータでサンプルを動かす - -このページでは、 +このページでは、 [raspicat_sim](https://github.com/rt-net/raspicat_sim){target=_blank rel=noopener} -パッケージを用いたシミュレーションのセットアップ方法と実行方法について説明します。 - -シミュレーション環境はROSインストール済みのUbuntu PC上に構築します。 -インストール方法については[ROSのインストール](./install.md)を参照してください。 +パッケージと +[raspicat_slam_navigation](https://github.com/rt-net/raspicat_slam_navigation){target=_blank rel=noopener} +パッケージを使ってシミュレータ上でSLAM/Navigationを実施する方法について説明します。 -## パッケージのダウンロードとインストール +## 使用機材 {: #requirements} -制御用のパッケージである -[rt-net/raspimouse](https://github.com/rt-net/raspimouse){target=_blank rel=noopener}、[rt-net/raspicat_ros](https://github.com/rt-net/raspicat_ros){target=_blank rel=noopener} -SLAM/ナビゲーション用のパッケージである -[rt-net/raspicat_slam_navigation](https://github.com/rt-net/raspicat_slam_navigation){target=_blank rel=noopener} -シミュレータ用のパッケージである -[rt-net/raspicat_sim](https://github.com/rt-net/raspicat_sim.git){target=_blank rel=noopener} -RaspberryPiCat用のURDF記述マクロを含んだパッケージである -[rt-net/raspicat_description](https://github.com/rt-net/raspicat_description){target=_blank rel=noopener} -をダウンロードしてインストールします。 +* ノートパソコン等のPC + * OS（**Ubuntu Desktop 18.04**）、ROS、シミュレータ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のインストール](../ros/install.md)と[シミュレータのインストール](./install.md)を参照してください。 -```sh -# Create workspace -$ source /opt/ros/melodic/setup.bash -$ mkdir -p ~/catkin_ws/src -$ cd ~/catkin_ws/src - -# Clone ROS packages -$ git clone -b $ROS_DISTRO-devel https://github.com/rt-net/raspimouse.git -$ git clone -b $ROS_DISTRO-devel https://github.com/rt-net/raspicat_ros.git -$ git clone -b $ROS_DISTRO-devel https://github.com/rt-net/raspicat_slam_navigation.git -$ git clone https://github.com/rt-net/raspicat_sim.git -$ git clone https://github.com/rt-net/raspicat_description.git - -# Install dependencies -$ rosdep update -$ rosdep install -r -y -i --from-paths raspicat* raspimouse* - -# make & install -$ cd ~/catkin_ws && catkin_make -$ source ~/catkin_ws/devel/setup.bash - -# Gazeboで使用するハードウェアモデルデータをダウンロード -$ rosrun raspicat_gazebo download_gazebo_models.sh -``` - -## シミュレータ環境を立ち上げる +## シミュレータ環境を立ち上げる {: #launch} !!! Tip 初回起動時において、Gazeboはモデルをインターネットからダウンロードします。 - そのため、シミュレータ環境の立ち上げに時間が掛かります。 + そのため、シミュレータ環境の立ち上げに時間がかかる場合があります。 + #### Gazeboのみ立ち上げ ```sh #シミュレータの起動 @@ -66,7 +34,11 @@ $ roslaunch raspicat_gazebo raspicat_with_iscas_museum.launch rviz:=false $ roslaunch raspicat_gazebo raspicat_with_iscas_museum.launch ``` -## キーボードで操縦する +## 操縦する {: #teleop} + +![raspicat_sim](https://rt-net.github.io/images/raspberry-pi-cat/raspicat_gazebo_with_iscas_museum.gif) + +### キーボードで操縦する {: #teleop-keyboard} ```sh # シミュレータの起動 @@ -76,7 +48,7 @@ $ roslaunch raspicat_gazebo raspicat_with_iscas_museum.launch $ roslaunch raspicat_bringup teleop.launch joy:=false ``` -## ジョイスティックコントローラで操縦する +### ジョイスティックコントローラで操縦する {: #teleop-joy} ```sh # シミュレータの起動 @@ -86,9 +58,9 @@ $ roslaunch raspicat_gazebo raspicat_with_iscas_museum.launch $ roslaunch raspicat_bringup teleop.launch joy:=true ``` -## シミュレータ環境でSLAM +## シミュレータ環境でSLAM {: #slam} -#### キーボードで操縦 +#### キーボードで操縦 {: #slam-teleop-keyboard} === "gmapping" ```sh # シミュレータの起動 @@ -123,7 +95,7 @@ $ roslaunch raspicat_bringup teleop.launch joy:=true $ roslaunch raspicat_slam map_save.launch map_file:=map-path ``` -#### ジョイスティックコントローラで操縦 +#### ジョイスティックコントローラで操縦 {: #slam-teleop-joy} === "gmapping" ```sh # シミュレータの起動 @@ -135,6 +107,10 @@ $ roslaunch raspicat_bringup teleop.launch joy:=true # 地図の保存 $ roslaunch raspicat_slam map_save.launch map_file:=map-path ``` + + === "cartographer" ```sh # シミュレータの起動 @@ -146,6 +122,10 @@ $ roslaunch raspicat_bringup teleop.launch joy:=true # 地図の保存 $ roslaunch raspicat_slam map_save.launch map_file:=map-path ``` + + === "slam_toolbox" ```sh # シミュレータの起動 @@ -157,8 +137,11 @@ $ roslaunch raspicat_bringup teleop.launch joy:=true # 地図の保存 $ roslaunch raspicat_slam map_save.launch map_file:=map-path ``` + -## シミュレータ環境でナビゲーション +## シミュレータ環境でナビゲーション {: #navigation} === "move_base" ```sh @@ -168,6 +151,11 @@ $ roslaunch raspicat_bringup teleop.launch joy:=true # move_baseの実行 $ roslaunch raspicat_navigation raspicat_navigation.launch navigation:="move_base" mcl_map_file:=map-path navigation_map_file:=map-path ``` + + + === "neonavigation" ```sh # シミュレータの起動 @@ -175,4 +163,8 @@ $ roslaunch raspicat_bringup teleop.launch joy:=true # neonavigationの実行 $ roslaunch raspicat_navigation raspicat_navigation.launch navigation:="neonav" mcl_map_file:=map-path navigation_map_file:=map-path - ``` \ No newline at end of file + ``` + + diff --git a/mkdocs.yml b/mkdocs.yml index 8991a88..806a345 100644 --- a/mkdocs.yml +++ b/mkdocs.yml @@ -112,8 +112,10 @@ nav: - 1. ROSのインストール: raspicat/ros/install.md - 2. ROSパッケージのインストール: raspicat/ros/package-install.md - 3. ROSサンプルの実行: raspicat/ros/samples.md - - 4. シミュレータの実行: raspicat/ros/simulator.md - - 4. 関連リンク集: raspicat/others.md + - 4. シミュレータの実行: + - 1. シミュレータのインストール: raspicat/simulator/install.md + - 2. サンプルを動かす: raspicat/simulator/samples.md + - 5. 関連リンク集: raspicat/others.md - USB出力9軸IMUセンサモジュール: - 1. 製品について: usb9imu/products.md - 2. 関連リンク集: usb9imu/others.md From 1985960e8a387ebfa8fffad9991d6d6c9401af40 Mon Sep 17 00:00:00 2001 From: Daisuke Sato Date: Fri, 26 Aug 2022 20:52:39 +0900 Subject: [PATCH 15/38] =?UTF-8?q?=E6=B3=A8=E6=84=8F=E4=BA=8B=E9=A0=85?= =?UTF-8?q?=E8=BF=BD=E5=8A=A0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- docs/raspicat/ros/samples.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docs/raspicat/ros/samples.md b/docs/raspicat/ros/samples.md index 5e7abbb..a314d6a 100644 --- a/docs/raspicat/ros/samples.md +++ b/docs/raspicat/ros/samples.md @@ -23,7 +23,7 @@ PCからネットワークを介してRaspberry Pi側のトピックやサービ Raspberry PiのIPアドレスが`192.168.11.89`、 PCのIPアドレスが`192.168.11.100`のとき、 -下記コマンドで環境変数を設定します。 +下記コマンドで環境変数を設定します。__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__。 ```sh # Raspberry Pi側 From 9c5db079491fdc6614db980837a04a0275037c14 Mon Sep 17 00:00:00 2001 From: Daisuke Sato Date: Tue, 30 Aug 2022 20:18:03 +0900 Subject: [PATCH 16/38] =?UTF-8?q?=E4=BD=BF=E7=94=A8=E6=A9=9F=E6=9D=90?= =?UTF-8?q?=E3=81=AE=E6=83=85=E5=A0=B1=E3=82=92=E6=95=B4=E7=90=86?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../raspicat/driver/raspi_os_settings3.png | Bin 0 -> 137529 bytes docs/img/raspicat/driver/windows-vcp-1.png | Bin 0 -> 34462 bytes docs/img/raspicat/driver/windows-vcp-2.png | Bin 0 -> 19137 bytes docs/img/raspicat/driver/windows-vcp-3.png | Bin 0 -> 16970 bytes docs/img/raspicat/driver/windows-vcp-4.png | Bin 0 -> 16817 bytes docs/img/raspicat/driver/windows-vcp-5.jpg | Bin 0 -> 641925 bytes docs/img/raspicat/driver/windows-vcp-6.png | Bin 0 -> 7340 bytes docs/img/raspicat/driver/windows-vcp-7.png | Bin 0 -> 21420 bytes docs/raspicat/driver/install.md | 130 +++++++++++++++--- docs/raspicat/driver/samples.md | 22 ++- docs/raspicat/products.md | 9 +- docs/raspicat/ros/install.md | 15 +- docs/raspicat/ros/package-install.md | 24 ++-- docs/raspicat/ros/samples.md | 41 ++++-- 14 files changed, 188 insertions(+), 53 deletions(-) create mode 100644 docs/img/raspicat/driver/raspi_os_settings3.png create mode 100644 docs/img/raspicat/driver/windows-vcp-1.png create mode 100644 docs/img/raspicat/driver/windows-vcp-2.png create mode 100644 docs/img/raspicat/driver/windows-vcp-3.png create mode 100644 docs/img/raspicat/driver/windows-vcp-4.png create mode 100644 docs/img/raspicat/driver/windows-vcp-5.jpg create mode 100644 docs/img/raspicat/driver/windows-vcp-6.png create mode 100644 docs/img/raspicat/driver/windows-vcp-7.png diff --git a/docs/img/raspicat/driver/raspi_os_settings3.png b/docs/img/raspicat/driver/raspi_os_settings3.png new file mode 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zdyo{tK&0adD3@9u5+GMqip5b#dJ9t_#W*6=IJ-2=N+SdTGq}MhMEosEHNnLKVOI!L z;THOC;BtDTYj`j?eu^wb1t@8k@MwzyF!7ovXwhfNhP58pLagounk01P=t Ap#T5? literal 0 HcmV?d00001 diff --git a/docs/raspicat/driver/install.md b/docs/raspicat/driver/install.md index 6b0a188..dbb5ad0 100644 --- a/docs/raspicat/driver/install.md +++ b/docs/raspicat/driver/install.md @@ -12,7 +12,18 @@ robot: Raspberry Pi Cat Raspberry Pi CatのLEDやモータを駆動するためには、 デバイスドライバが必要です。 -## OSのインストール +!!! 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、本ページのインストール手順を飛ばしてそのまま[サンプルプログラムの実行](./samples.md)に進むことができます。 + +## 使用機材 {: #requirements} + +* 組み立て済みRaspberry Pi Cat本体 + * [製品マニュアル](https://rt-net.jp/products/raspberry-pi-cat/#downloads)を読んで組み立て済みの状態を前提としています + * OSの再インストールを行う場合はRaspberry PiからmicroSDカードを取り外す必要があります +* USB Type-Bケーブル（Raspberry Pi Catに同梱されています） +* ノートパソコン等のPC + +## OSのインストール {: #os-installation} Raspberry Pi Cat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。 @@ -26,13 +37,89 @@ Raspberry Pi Catのデバイスドライバは**Ubuntu**と**Raspberry Pi OS ( === "Raspberry Pi OS" Raspberry Pi OSの場合は、サイトからイメージをダウンロードせずに[rpi-imager](https://www.raspberrypi.com/software/)を使用することで、イメージを書き込むことができます。 -## ソースファイルのダウンロードとインストール +## Raspberry Piへのログイン {: #raspberry-pi-login} + +Raspberry Pi Cat制御基板にはUSBシリアル変換機能が搭載されており、USB Type-BケーブルでPCと接続すると、PCにはVCP（Virtual Com Port）デバイスとして認識されます。 + +必要に応じてPC用のドライバを[FTDI社のサイト](https://ftdichip.com/drivers/vcp-drivers/)より入手し、インストールしてください。 + +Windowsでは[Tera Term](https://ja.osdn.net/projects/ttssh2/)、Linuxでは[screen](https://wiki.archlinux.jp/index.php/GNU_Screen)などのソフトウェアを使うことでRaspberry Pi Cat制御基板経由でRaspberry Piにログインすることができます。 + +=== "Ubuntu" + 1. まず、USB-BケーブルをRaspberry Pi Cat制御基板に接続します。まだRaspberry Pi Cat本体の電源は入れません。 + `$ ls /dev/ttyUSB*`と実行し、Raspberry Pi Cat制御基板が認識されていることを確認します。このときのデバイスファイル名を控えておきます。 + 1. screenでデバイスファイルにアクセスします。上記の手順で確認したデバイスファイル名は`/dev/ttyUSB0`だった場合は、`$ screen /dev/ttyUSB0 115200`などのように実行します。 + 1. ここで、Raspberry Pi Cat操作基板にある電源スイッチを操作し、Raspberry Pi Cat本体の電源をオンにします。電源をオンにすると電源LEDが点灯します。 + ![](../../img/raspicat/driver/windows-vcp-5.jpg){: style="width:50%"} + 1. 電源をオンにしてしばらく待つとログイン画面が表示されます。何も表示されない場合はEnterキーを押すと表示されます。 + 1. ユーザ名: `pi` パスワード: `raspberry` でログインします。パスワード入力中は画面に文字が出てきませんのでタイプミスのないように入力します。 +=== "Windows" + 1. まず、USB-BケーブルをRaspberry Pi Cat制御基板に接続します。まだRaspberry Pi Cat本体の電源は入れません。 + Windowsのデバイスマネージャを起動してRaspberry Pi Cat制御基板が認識されていることを確認します。以下のようにUSB Serial Portとして認識されます。このときのCOMポートの番号を控えておきます。今回の例ではCOM3です。 + ![](../../img/raspicat/driver/windows-vcp-1.png) + 1. デバイスマネージャで確認したCOMポートを指定して接続します。 + ![](../../img/raspicat/driver/windows-vcp-2.png) + 1. 「設定」 - 「シリアルポート」を開きシリアルポートの設定を行います。 + ![](../../img/raspicat/driver/windows-vcp-3.png) + 1. 以下のようにCOMポートを先ほど確認した番号に、ボーレートを115200に設定します。 + ![](../../img/raspicat/driver/windows-vcp-4.png) + 1. ここで、Raspberry Pi Cat操作基板にある電源スイッチを操作し、Raspberry Pi Cat本体の電源をオンにします。電源をオンにすると電源LEDが点灯します。 + ![](../../img/raspicat/driver/windows-vcp-5.jpg){: style="width:50%"} + 1. 電源をオンにしてしばらく待つと以下のようにログイン画面が表示されます。何も表示されない場合はEnterキーを押すと表示されます。 + ![](../../img/raspicat/driver/windows-vcp-6.png) + 1. ユーザ名: `pi` パスワード: `raspberry` でログインします。パスワード入力中は画面に文字が出てきませんのでタイプミスのないように入力します。 + ![](../../img/raspicat/driver/windows-vcp-7.png) + +## ネットワークへの接続 {: #network-setup} + +PCとRaspberry Pi Cat制御基板をUSB Type-Bケーブルで接続して操作する方法を説明します。 + + +=== "Ubuntu Server" + + [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。 + 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。 + この例では、SSID：`raspimouse` パスワード：`rt-net`のネットワークに接続する場合について紹介します。 + ```yaml + network: + ethernets: + eth0: + dhcp4: true + optional: true + wifis: + wlan0: + access-points: + raspimouse: #ここにSSIDを書く + password: rt-net #ここにパスワードを書く + dhcp4: true + version: 2 + ``` + 1. `$ sudo netplan apply`を実行します + 1. `$ ip addr`を実行し、Wi-Fiに接続してIPアドレスを取得できているか確認します + +=== "Raspberry Pi OS" + 1. raspi-configで設定します + ```sh + $ WIFI_SSID="" # ここでSSIDを設定 + $ WIFI_PASS="" # ここでパスワードを設定 + $ sudo raspi-config nonint do_wifi_ssid_passphrase $WIFI_SSID $WIFI_PASS && echo "Wi-FI ON" + ``` + `Wi-Fi ON`とメッセージが返ってきたらWi-Fiへの接続設定完了です + 1. `$ ip addr`を実行し、Wi-Fiに接続してIPアドレスを取得できているか確認します +## ソースファイルのダウンロードとインストール {: #driver-installation} Raspberry Pi Catのデバイスドライバのソースファイルは [GitHub](https://github.com/rt-net/RaspberryPiMouse) 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 ```sh $ git clone https://github.com/rt-net/RaspberryPiMouse.git $HOME/RaspberryPiMouse @@ -41,18 +128,19 @@ Raspberry Pi Catのデバイスドライバのソースファイルは $ ./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 + +=== "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/firmware/config.txt`を編集し、`dtparam=i2c_baudrate=62500`を追記します + 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。 - -=== "Raspberry Pi OS" - 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、raspi-configからSSH, SPI, I2C, Serial Portの機能を有効化します + ```sh + $ sudo raspi-config nonint do_ssh 0 + $ sudo raspi-config nonint do_spi 0 + $ sudo raspi-config nonint do_i2c 0 + $ sudo raspi-config nonint do_serial 0 + ``` 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 ```sh $ git clone https://github.com/rt-net/RaspberryPiMouse.git @@ -61,15 +149,11 @@ Raspberry Pi Catのデバイスドライバのソースファイルは $ ./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。 - 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。 ## デバイスドライバの自動インストール デバイスドライバは起動たびにインストールする必要があります。 -そのため、[raspicat_setup_scripts](https://github.com/rt-net/raspicat_setup_scripts)を使用して、起動たびにデバイスドライバをインストールするためのサービスを登録します。 +そのため、[rt-net/raspicat_setup_scripts](https://github.com/rt-net/raspicat_setup_scripts)を使用して、起動たびにデバイスドライバをインストールするためのサービスを登録します。 ```sh $ git clone https://github.com/rt-net/raspicat_setup_scripts.git $HOME/raspicat_setup_scripts @@ -77,15 +161,19 @@ $ cd $HOME/raspicat_setup_scripts $ make install ``` -## その他 +## その他 {: #misc} -### Ubuntu ServerでWi-Fiに接続し、IPアドレスを固定する +### 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。 -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 -この例では、IPアドレスを`192.168.11.89`に固定します +!!! 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。 +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__。 ```txt network: ethernets: @@ -107,7 +195,7 @@ network: 2. `$ sudo netplan apply`を実行します 3. `$ ip addr`でWi-Fiに接続できているか確認します -### 有線LANを使用し、PCのネットワークを利用する +### 有線LANを使用し、PCのネットワークを利用する {: #pc-lan} **Raspberry Pi**と**PC**間で有線LAN接続を行い、PCのネットワークを利用する手順について説明します。 diff --git a/docs/raspicat/driver/samples.md b/docs/raspicat/driver/samples.md index 18d8f24..eaed02f 100644 --- a/docs/raspicat/driver/samples.md +++ b/docs/raspicat/driver/samples.md @@ -8,6 +8,25 @@ robot: Raspberry Pi Cat デバイスドライバをインストールしたら、 サンプルプログラムを実行しましょう。 +このサンプルプログラムは[Apache License, Version 2.0](https://www.apache.org/licenses/LICENSE-2.0)でオープンソースソフトウェアとして公開しています。 +[https://github.com/rt-net/RaspberryPiMouse/tree/master/SampleProgram](https://github.com/rt-net/RaspberryPiMouse/tree/master/SampleProgram){target=_blank rel=noopener} + + +## 使用機材 {: #requirements} + +* セットアップ済みRaspberry Pi Cat本体 + * [製品マニュアル](https://rt-net.jp/products/raspberry-pi-cat/#downloads)を読んで組み立て済みの状態を前提としています + * Raspberry PiにOS（**Ubuntu Server 18.04**）がインストール済みであること + * Raspberry Pi OSでのROSの動作は確認していません。 + * **デバイスドライバ**がインストール済みであること + * [デバイスドライバのインストール手順](../driver/install.md)を参照してください +* USB Type-Bケーブル（Raspberry Pi Catに同梱されています） +* ノートパソコン等のPC + +## 事前準備 {: #preparation} + +[デバイスドライバのインストール](./install.md)の[Raspberry Piへのログイン](./install.md#raspberry-pi-login)に沿ってRaspberry Piへログインします。 + サンプルプログラムのディレクトリに移動します。 ```sh @@ -16,9 +35,6 @@ $ cd ~/RaspberryPiMouse/SampleProgram ディレクトリにあるプログラムを実行すると、LEDやブザーを動かせます。 -このサンプルプログラムは[Apache License, Version 2.0](https://www.apache.org/licenses/LICENSE-2.0)でオープンソースソフトウェアとして公開しています。 -[https://github.com/rt-net/RaspberryPiMouse/tree/master/SampleProgram](https://github.com/rt-net/RaspberryPiMouse/tree/master/SampleProgram){target=_blank rel=noopener} - ## LED {: #step1} LED0〜LED3が点滅します。 diff --git a/docs/raspicat/products.md b/docs/raspicat/products.md index 8c45f35..c908359 100644 --- a/docs/raspicat/products.md +++ b/docs/raspicat/products.md @@ -9,11 +9,6 @@ Raspberry Pi Cat（ラズベリーパイキャット）は 屋外でも動かせる中型2輪ロボットです。 [Raspberry Pi Mouse](../raspimouse/products.md)をスケールアップしたROS対応の移動プラットフォームロボットです。 -!!! info - 本製品のソフトウェアチュートリアルは準備中です。更新時はTwitterにてお知らせします。 - - - ![Raspberry Pi Cat](https://rt-net.github.io/images/raspberry-pi-cat/raspberry-pi-cat.png) ## 紹介動画 @@ -31,4 +26,6 @@ Raspberry Pi Cat（ラズベリーパイキャット）は 製品はこちらから購入できます。 -一部パーツ終売のため、本製品は生産終了しました。後継機を発売予定です。 \ No newline at end of file + +!!! info + 一部パーツ終売のため、本製品は生産終了しました。後継機を発売予定です。 \ No newline at end of file diff --git a/docs/raspicat/ros/install.md b/docs/raspicat/ros/install.md index adaf977..9388e81 100644 --- a/docs/raspicat/ros/install.md +++ b/docs/raspicat/ros/install.md @@ -12,14 +12,21 @@ robot: Raspberry Pi Cat なお、ROSをすでにインストール済みの場合はこのページの手順は不要です。 -## 前提条件 {: #requirements} +## 使用機材 {: #requirements} +* セットアップ済みRaspberry Pi Cat本体 + * [製品マニュアル](https://rt-net.jp/products/raspberry-pi-cat/#downloads)を読んで組み立て済みの状態を前提としています + * Raspberry PiにOS（**Ubuntu Server 18.04**）がインストール済みであること + * Raspberry Pi OSでのROSの動作は確認していません。 + * **デバイスドライバ**がインストール済みであること + * [デバイスドライバのインストール手順](../driver/install.md)を参照してください +* USB Type-Bケーブル（Raspberry Pi Catに同梱されています） * ノートパソコン等のPC * OS（**Ubuntu Desktop 18.04**）がインストール済みであること -* Raspberry Pi - * OS（**Ubuntu Server 18.04**）がインストール済みであること - * Raspberry Pi OSでのROSの動作は確認していません。 +## 事前準備 {: #preparation} + +[デバイスドライバのインストール](./install.md)の[Raspberry Piへのログイン](./install.md#raspberry-pi-login)に沿ってRaspberry Piへログインします。 ## ROS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} diff --git a/docs/raspicat/ros/package-install.md b/docs/raspicat/ros/package-install.md index 6a595bd..12bc60d 100644 --- a/docs/raspicat/ros/package-install.md +++ b/docs/raspicat/ros/package-install.md @@ -7,17 +7,25 @@ robot: Raspberry Pi Cat このページでは、Raspberry Pi/Ubuntu PCへのROSパッケージのインストール方法を説明します。 -## 前提条件 +## 使用機材 {: #requirements} -- Raspberry PiにOS（**Ubuntu Server 18.04**）がインストール済みであること - - Raspberry Pi OSでのROSの動作は確認していません。 -- **デバイスドライバ**がインストール済みであること - - [デバイスドライバのインストール手順](../driver/install.md)を参照してください -- ROSがインストール済みであること - - [ROSのインストール手順](./install.md)を参照してください +* セットアップ済みRaspberry Pi Cat本体 + * [製品マニュアル](https://rt-net.jp/products/raspberry-pi-cat/#downloads)を読んで組み立て済みの状態を前提としています + * Raspberry PiにOS（**Ubuntu Server 18.04**）がインストール済みであること + * Raspberry Pi OSでのROSの動作は確認していません。 + * **デバイスドライバ**がインストール済みであること + * [デバイスドライバのインストール手順](../driver/install.md)を参照してください + * ROSがインストール済みであること + * [ROSのインストール手順](./install.md)を参照してください +* USB Type-Bケーブル（Raspberry Pi Catに同梱されています） +* ノートパソコン等のPC + * OS（**Ubuntu Desktop 18.04**）がインストール済みであること +## 事前準備 {: #preparation} -## ROSパッケージのインストール +[デバイスドライバのインストール](./install.md)の[Raspberry Piへのログイン](./install.md#raspberry-pi-login)に沿ってRaspberry Piへログインします。 + +## ROSパッケージのインストール {: #install-ros-packages} 制御用のパッケージである [rt-net/raspimouse](https://github.com/rt-net/raspimouse){target=_blank rel=noopener}、[rt-net/raspicat_ros](https://github.com/rt-net/raspicat_ros){target=_blank rel=noopener} diff --git a/docs/raspicat/ros/samples.md b/docs/raspicat/ros/samples.md index a314d6a..d486121 100644 --- a/docs/raspicat/ros/samples.md +++ b/docs/raspicat/ros/samples.md @@ -7,6 +7,25 @@ robot: Raspberry Pi Cat このページでは 実機を使用した、SLAMからナビゲーションまでの実行方法を説明します。 +## 使用機材 {: #requirements} + +* セットアップ済みRaspberry Pi Cat本体 + * [製品マニュアル](https://rt-net.jp/products/raspberry-pi-cat/#downloads)を読んで組み立て済みの状態を前提としています + * Raspberry PiにOS（**Ubuntu Server 18.04**）がインストール済みであること + * Raspberry Pi OSでのROSの動作は確認していません。 + * **デバイスドライバ**がインストール済みであること + * [デバイスドライバのインストール手順](../driver/install.md)を参照してください + * ROSがインストール済みであること + * [ROSのインストール手順](./install.md)を参照してください + * ROSパッケージがインストール済みであること + * [ROSパッケージのインストール手順](./package-install.md)を参照してください +* USB Type-Bケーブル（Raspberry Pi Catに同梱されています） +* ノートパソコン等のPC + * OS（**Ubuntu Desktop 18.04**）がインストール済みであること + +## 事前準備 {: #preparation} + +### ROSパッケージの読み込み {: #preparation-source-workspace} サンプルを実行する場合は下記コマンドを実行し、 ROSとパッケージを読み込んでください。 @@ -16,7 +35,7 @@ $ source /opt/ros/melodic/setup.bash $ source ~/catkin_ws/devel/setup.bash ``` -## Raspberry PiとPC間のROSネットワークを接続する +### Raspberry PiとPC間のROSネットワークを接続する {: #preparation-ros-master-uri} 環境変数`ROS_IP`、`ROS_MASTER_URI`を設定することで、 PCからネットワークを介してRaspberry Pi側のトピックやサービスにアクセスできます。 @@ -42,22 +61,22 @@ $ export ROS_MASTER_URI=http://192.168.11.89:11311/ !!! Warning PCから操縦する場合はネットワークと環境変数を設定してください。 -## キーボードで操縦する +## キーボードで操縦する {: #teleop-keyboard} 操作方法はターミナルに出力されます。 -#### Raspberry Pi +#### Raspberry Pi {: #teleop-keyboard-pi} ```sh # センサやモータ用のノードの立ち上げ $ roslaunch raspicat_bringup raspicat_bringup.launch ``` -#### PC +#### PC {: #teleop-keyboard-pc} ```sh # キーボード用のノードの立ち上げ $ roslaunch raspicat_bringup teleop.launch joy:=false ``` -## ジョイスティックコントローラで操縦する +## ジョイスティックコントローラで操縦する {: #teleop-joy} 操作方法は[こちら](https://github.com/rt-net/raspicat_ros/blob/main/raspicat_gamepad_controller/README.ja.md)のパッケージを参照してください。 @@ -79,7 +98,7 @@ $ roslaunch raspicat_bringup teleop.launch joy:=false $ roslaunch raspicat_bringup raspicat_bringup.launch joy:=true ``` -## LiDARでSLAM +## LiDARでSLAM {: #lidar-slam} ジョイスティックコントローラおよびキーボードにてRaspberry Pi Catを操作出来る状態でSLAMを実行します。 ここでは、**PC**上にて**SLAM**を実行する方法を紹介します。 @@ -91,7 +110,7 @@ $ roslaunch raspicat_bringup teleop.launch joy:=false **Raspberry Pi**と**PC**間で通信を行い、**PC**上で**SLAM**を実行する場合は、時刻の同期が必要です。 これは、**tf**関連のエラーを防ぐためです。 -### gmapping +### gmapping {: #lidar-slam-gmapping} === "Online SLAM" #### Raspberry Pi @@ -118,7 +137,7 @@ $ roslaunch raspicat_bringup teleop.launch joy:=false $ roslaunch raspicat_slam map_save.launch map_file:=map-path ``` -### cartographer +### cartographer {: #lidar-slam-cartographer} === "Online SLAM" #### Raspberry Pi ```sh @@ -144,7 +163,7 @@ $ roslaunch raspicat_bringup teleop.launch joy:=false $ roslaunch raspicat_slam map_save.launch map_file:=map-path ``` -### slam_toolbox +### slam_toolbox {: #lidar-slam-toolbox} === "Online SLAM" #### Raspberry Pi ```sh @@ -170,7 +189,7 @@ $ roslaunch raspicat_bringup teleop.launch joy:=false $ roslaunch raspicat_slam map_save.launch map_file:=map-path ``` -## LiDARでナビゲーション +## LiDARでナビゲーション {: #lidar-navigation} SLAMによって作成した地図を使用し、Navigationを行います。 [raspicat_navigation](https://github.com/rt-net/raspicat_slam_navigation/tree/main/raspicat_navigation) @@ -207,4 +226,4 @@ SLAMによって作成した地図を使用し、Navigationを行います。 ```sh # neonavigationの実行 $ roslaunch raspicat_navigation raspicat_navigation.launch navigation:="neonav" mcl_map_file:=map-path navigation_map_file:=map-path - ``` \ No newline at end of file + ``` From 49038506541bc003f9a84207007ec763da6e6343 Mon Sep 17 00:00:00 2001 From: Daisuke Sato Date: Wed, 7 Sep 2022 10:09:49 +0900 Subject: [PATCH 17/38] =?UTF-8?q?=E6=BA=96=E5=82=99=E4=B8=AD=E8=A3=BD?= =?UTF-8?q?=E5=93=81=E3=81=AE=E3=83=AA=E3=82=B9=E3=83=88=E6=9B=B4=E6=96=B0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- docs/index.md | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/docs/index.md b/docs/index.md index 66f5ca2..fa78268 100644 --- a/docs/index.md +++ b/docs/index.md @@ -7,9 +7,13 @@ [コーポレートサイトの各製品ページ](https://rt-net.jp/works_category/allproducts/){target=_blank rel=noopener} に公開しているマニュアルや、製品に付属しているマニュアルを参照してください。 -現時点ではRaspberry Pi MouseとJetson Nano Mouseのチュートリアルを掲載しています。 +現時点では下記3製品のチュートリアルを掲載しています。 **その他の製品については準備中です**。 +* Raspberry Pi Mouse +* Jetson Nano Mouse +* Raspberry Pi Cat + | [CRANE+V2][CRV2DOC] | [CRANE-X7][CRX7DOC] | [Sciurus17][SC17DOC] | | :---: | :---: | :---: | | [![img][CRV2IMG]][CRV2DOC] | [![img][CRX7IMG]][CRX7DOC] | [![img][SC17IMG]][SC17DOC] | From d00c15ecb67edd98d0fb03fc5f7d18bcc73a3fda Mon Sep 17 00:00:00 2001 From: Daisuke Sato Date: Fri, 30 Sep 2022 14:58:24 +0900 Subject: [PATCH 18/38] =?UTF-8?q?=E7=AB=AF=E6=9C=AB=E3=83=AD=E3=82=B0?= =?UTF-8?q?=E3=82=A4=E3=83=B3=E5=BE=8C=E3=81=AE=E8=A1=A8=E7=A4=BA=E4=BE=8B?= =?UTF-8?q?=E8=BF=BD=E5=8A=A0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- docs/raspicat/driver/install.md | 15 ++++++++++++--- 1 file changed, 12 insertions(+), 3 deletions(-) diff --git a/docs/raspicat/driver/install.md b/docs/raspicat/driver/install.md index dbb5ad0..06d2244 100644 --- a/docs/raspicat/driver/install.md +++ b/docs/raspicat/driver/install.md @@ -52,7 +52,16 @@ Windowsでは[Tera Term](https://ja.osdn.net/projects/ttssh2/)、Linuxでは[scr 1. ここで、Raspberry Pi Cat操作基板にある電源スイッチを操作し、Raspberry Pi Cat本体の電源をオンにします。電源をオンにすると電源LEDが点灯します。 ![](../../img/raspicat/driver/windows-vcp-5.jpg){: style="width:50%"} 1. 電源をオンにしてしばらく待つとログイン画面が表示されます。何も表示されない場合はEnterキーを押すと表示されます。 - 1. ユーザ名: `pi` パスワード: `raspberry` でログインします。パスワード入力中は画面に文字が出てきませんのでタイプミスのないように入力します。 + 1. ユーザ名: `pi` パスワード: `raspberry` でログインします。パスワード入力中は画面に文字が出てきませんのでタイプミスのないように入力します。無事にログインできていると以下のような表示になります。 + ``` + Linux raspberrypi 5.15.32-v8+ #1538 SMP PREEMPT Thu Mar 31 19:40:39 BST 2022 aarch64 + + The programs included with the Debian GNU/Linux system are free software; + + 中略 + + pi@raspberrypi: ~$ + ``` === "Windows" 1. まず、USB-BケーブルをRaspberry Pi Cat制御基板に接続します。まだRaspberry Pi Cat本体の電源は入れません。 Windowsのデバイスマネージャを起動してRaspberry Pi Cat制御基板が認識されていることを確認します。以下のようにUSB Serial Portとして認識されます。このときのCOMポートの番号を控えておきます。今回の例ではCOM3です。 @@ -67,7 +76,7 @@ Windowsでは[Tera Term](https://ja.osdn.net/projects/ttssh2/)、Linuxでは[scr ![](../../img/raspicat/driver/windows-vcp-5.jpg){: style="width:50%"} 1. 電源をオンにしてしばらく待つと以下のようにログイン画面が表示されます。何も表示されない場合はEnterキーを押すと表示されます。 ![](../../img/raspicat/driver/windows-vcp-6.png) - 1. ユーザ名: `pi` パスワード: `raspberry` でログインします。パスワード入力中は画面に文字が出てきませんのでタイプミスのないように入力します。 + 1. ユーザ名: `pi` パスワード: `raspberry` でログインします。パスワード入力中は画面に文字が出てきませんのでタイプミスのないように入力します。無事にログインできていると以下のような表示になります。 ![](../../img/raspicat/driver/windows-vcp-7.png) ## ネットワークへの接続 {: #network-setup} @@ -228,4 +237,4 @@ $ ssh ubuntu@Raspberry-Pi-IP 5. ssh接続ができたら、Raspberry PiがPCのネットワークを利用できているか確認します ```sh $ ping '8.8.8.8' -``` \ No newline at end of file +``` From 77377084043d76af0a12ec5cd0c8c55915aec9f5 Mon Sep 17 00:00:00 2001 From: Daisuke Sato Date: Tue, 29 Nov 2022 20:44:29 +0900 Subject: [PATCH 19/38] =?UTF-8?q?=E8=A1=A8=E8=A8=98=E4=BF=AE=E6=AD=A3?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- docs/raspicat/driver/install.md | 17 +++++++++-------- docs/raspicat/ros/install.md | 4 ++-- docs/raspicat/ros/package-install.md | 4 ++-- docs/raspicat/simulator/install.md | 5 +++-- 4 files changed, 16 insertions(+), 14 deletions(-) diff --git a/docs/raspicat/driver/install.md b/docs/raspicat/driver/install.md index 06d2244..650ab4a 100644 --- a/docs/raspicat/driver/install.md +++ b/docs/raspicat/driver/install.md @@ -30,7 +30,7 @@ Raspberry Pi Catのデバイスドライバは**Ubuntu**と**Raspberry Pi OS ( 後ほどRaspberry Pi Catで**ROSを扱う場合はUbuntu Serverのインストールを推奨します**。 === "Ubuntu Server 18.04" - [こちらのリンク](http://cdimage.ubuntu.com/ubuntu/releases/18.04/release/)から**Ubuntu 18.04 server**のイメージをダウンロードします。 + [Ubuntu 18.04 LTSのリリースページ](http://cdimage.ubuntu.com/ubuntu/releases/18.04/release/)から**Ubuntu 18.04 server**のイメージファイル（`ubuntu-18.04.5-preinstalled-server-arm64+raspi4.img.xz`）をダウンロードします。 ダウンロードしたイメージは[rpi-imager](https://www.raspberrypi.com/software/)等でSDカードに書き込みます。 @@ -46,9 +46,9 @@ Raspberry Pi Cat制御基板にはUSBシリアル変換機能が搭載されて Windowsでは[Tera Term](https://ja.osdn.net/projects/ttssh2/)、Linuxでは[screen](https://wiki.archlinux.jp/index.php/GNU_Screen)などのソフトウェアを使うことでRaspberry Pi Cat制御基板経由でRaspberry Piにログインすることができます。 === "Ubuntu" - 1. まず、USB-BケーブルをRaspberry Pi Cat制御基板に接続します。まだRaspberry Pi Cat本体の電源は入れません。 + 1. まず、USB Type-BケーブルをRaspberry Pi Cat制御基板に接続します。まだRaspberry Pi Cat本体の電源は入れません。 `$ ls /dev/ttyUSB*`と実行し、Raspberry Pi Cat制御基板が認識されていることを確認します。このときのデバイスファイル名を控えておきます。 - 1. screenでデバイスファイルにアクセスします。上記の手順で確認したデバイスファイル名は`/dev/ttyUSB0`だった場合は、`$ screen /dev/ttyUSB0 115200`などのように実行します。 + 1. screenでデバイスファイルにアクセスします。上記の手順で確認したデバイスファイル名が`/dev/ttyUSB0`だった場合は、`$ screen /dev/ttyUSB0 115200`などのように実行します。 1. ここで、Raspberry Pi Cat操作基板にある電源スイッチを操作し、Raspberry Pi Cat本体の電源をオンにします。電源をオンにすると電源LEDが点灯します。 ![](../../img/raspicat/driver/windows-vcp-5.jpg){: style="width:50%"} 1. 電源をオンにしてしばらく待つとログイン画面が表示されます。何も表示されない場合はEnterキーを押すと表示されます。 @@ -63,10 +63,10 @@ Windowsでは[Tera Term](https://ja.osdn.net/projects/ttssh2/)、Linuxでは[scr pi@raspberrypi: ~$ ``` === "Windows" - 1. まず、USB-BケーブルをRaspberry Pi Cat制御基板に接続します。まだRaspberry Pi Cat本体の電源は入れません。 + 1. まず、USB Type-BケーブルをRaspberry Pi Cat制御基板に接続します。まだRaspberry Pi Cat本体の電源は入れません。 Windowsのデバイスマネージャを起動してRaspberry Pi Cat制御基板が認識されていることを確認します。以下のようにUSB Serial Portとして認識されます。このときのCOMポートの番号を控えておきます。今回の例ではCOM3です。 ![](../../img/raspicat/driver/windows-vcp-1.png) - 1. デバイスマネージャで確認したCOMポートを指定して接続します。 + 1. Tera Termを起動し、デバイスマネージャで確認したCOMポートを指定して接続します。 ![](../../img/raspicat/driver/windows-vcp-2.png) 1. 「設定」 - 「シリアルポート」を開きシリアルポートの設定を行います。 ![](../../img/raspicat/driver/windows-vcp-3.png) @@ -81,7 +81,7 @@ Windowsでは[Tera Term](https://ja.osdn.net/projects/ttssh2/)、Linuxでは[scr ## ネットワークへの接続 {: #network-setup} -PCとRaspberry Pi Cat制御基板をUSB Type-Bケーブルで接続して操作する方法を説明します。 +Wi-Fiへの接続方法を説明します。 === "Ubuntu Server" @@ -118,6 +118,7 @@ PCとRaspberry Pi Cat制御基板をUSB Type-Bケーブルで接続して操作 ``` `Wi-Fi ON`とメッセージが返ってきたらWi-Fiへの接続設定完了です 1. `$ ip addr`を実行し、Wi-Fiに接続してIPアドレスを取得できているか確認します + ## ソースファイルのダウンロードとインストール {: #driver-installation} Raspberry Pi Catのデバイスドライバのソースファイルは @@ -206,10 +207,10 @@ network: ### 有線LANを使用し、PCのネットワークを利用する {: #pc-lan} -**Raspberry Pi**と**PC**間で有線LAN接続を行い、PCのネットワークを利用する手順について説明します。 +**Raspberry Pi**と**Ubuntu PC**間で有線LAN接続を行い、PCのネットワークを利用する手順について説明します。 !!! Warning - **PC**は**Wi-Fi**に接続している必要があります。 + **Ubuntu PC**は**Wi-Fi**に接続している必要があります。 1. PC側でEthernetの接続プロファイルを作成します `PROFILE-NAME`は任意の名前、`NIC-NAME`は`ip addr`コマンド等で調べたEthernetのインターフェイス名です。 diff --git a/docs/raspicat/ros/install.md b/docs/raspicat/ros/install.md index 9388e81..dcd05ca 100644 --- a/docs/raspicat/ros/install.md +++ b/docs/raspicat/ros/install.md @@ -26,7 +26,7 @@ robot: Raspberry Pi Cat ## 事前準備 {: #preparation} -[デバイスドライバのインストール](./install.md)の[Raspberry Piへのログイン](./install.md#raspberry-pi-login)に沿ってRaspberry Piへログインします。 +[デバイスドライバのインストール](../driver/install.md)の[Raspberry Piへのログイン](../driver/install.md#raspberry-pi-login)に沿ってRaspberry Piへログインします。 ## ROS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} @@ -102,4 +102,4 @@ https://github.com/Tiryoh/ros_setup_scripts_ubuntu/ ```sh $ source ~/.bashrc -``` \ No newline at end of file +``` diff --git a/docs/raspicat/ros/package-install.md b/docs/raspicat/ros/package-install.md index 12bc60d..95b8917 100644 --- a/docs/raspicat/ros/package-install.md +++ b/docs/raspicat/ros/package-install.md @@ -23,7 +23,7 @@ robot: Raspberry Pi Cat ## 事前準備 {: #preparation} -[デバイスドライバのインストール](./install.md)の[Raspberry Piへのログイン](./install.md#raspberry-pi-login)に沿ってRaspberry Piへログインします。 +[デバイスドライバのインストール](../driver/install.md)の[Raspberry Piへのログイン](../driver/install.md#raspberry-pi-login)に沿ってRaspberry Piへログインします。 ## ROSパッケージのインストール {: #install-ros-packages} @@ -57,4 +57,4 @@ $ rosdep install -r -y -i --from-paths raspicat* raspimouse* # make & install $ cd ~/catkin_ws && catkin_make $ source ~/catkin_ws/devel/setup.bash -``` \ No newline at end of file +``` diff --git a/docs/raspicat/simulator/install.md b/docs/raspicat/simulator/install.md index 2ba2675..389bf76 100644 --- a/docs/raspicat/simulator/install.md +++ b/docs/raspicat/simulator/install.md @@ -37,10 +37,11 @@ $ cd ~/catkin_ws/src # Clone ROS packages $ git clone -b $ROS_DISTRO-devel https://github.com/rt-net/raspimouse.git +$ git clone -b $ROS_DISTRO-devel https://github.com/rt-net/raspimouse_description.git $ git clone -b $ROS_DISTRO-devel https://github.com/rt-net/raspicat_ros.git $ git clone -b $ROS_DISTRO-devel https://github.com/rt-net/raspicat_slam_navigation.git -$ git clone https://github.com/rt-net/raspicat_sim.git -$ git clone https://github.com/rt-net/raspicat_description.git +$ git clone -b $ROS_DISTRO-devel https://github.com/rt-net/raspicat_sim.git +$ git clone -b $ROS_DISTRO-devel https://github.com/rt-net/raspicat_description.git # Install dependencies $ rosdep update From 42d832553a1ba13010ab15555c311b24e5978be1 Mon Sep 17 00:00:00 2001 From: Daisuke Sato Date: Tue, 29 Nov 2022 20:45:49 +0900 Subject: [PATCH 20/38] =?UTF-8?q?=E4=BE=9D=E5=AD=98=E3=83=91=E3=83=83?= =?UTF-8?q?=E3=82=B1=E3=83=BC=E3=82=B8=E8=BF=BD=E5=8A=A0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- docs/raspicat/ros/package-install.md | 1 + 1 file changed, 1 insertion(+) diff --git a/docs/raspicat/ros/package-install.md b/docs/raspicat/ros/package-install.md index 95b8917..b239efc 100644 --- a/docs/raspicat/ros/package-install.md +++ b/docs/raspicat/ros/package-install.md @@ -46,6 +46,7 @@ $ cd ~/catkin_ws/src # Clone ROS packages $ git clone -b $ROS_DISTRO-devel https://github.com/rt-net/raspimouse.git +$ git clone -b $ROS_DISTRO-devel https://github.com/rt-net/raspimouse_description.git $ git clone -b $ROS_DISTRO-devel https://github.com/rt-net/raspicat_ros.git $ git clone -b $ROS_DISTRO-devel https://github.com/rt-net/raspicat_slam_navigation.git $ git clone https://github.com/rt-net/raspicat_description.git From 55592846d904091a04635bd589ba08904c91417d Mon Sep 17 00:00:00 2001 From: Daisuke Sato Date: Mon, 5 Dec 2022 11:24:38 +0900 Subject: [PATCH 21/38] =?UTF-8?q?=E3=83=8D=E3=83=83=E3=83=88=E3=83=AF?= =?UTF-8?q?=E3=83=BC=E3=82=AF=E5=85=B1=E6=9C=89=E3=81=AE=E9=A0=85=E7=9B=AE?= =?UTF-8?q?=E3=82=92=E4=B8=80=E5=BA=A6=E5=89=8A=E9=99=A4?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit 動作確認後に改めて追加予定 --- docs/raspicat/driver/install.md | 35 --------------------------------- 1 file changed, 35 deletions(-) diff --git a/docs/raspicat/driver/install.md b/docs/raspicat/driver/install.md index 650ab4a..c961ae5 100644 --- a/docs/raspicat/driver/install.md +++ b/docs/raspicat/driver/install.md @@ -204,38 +204,3 @@ network: ``` 2. `$ sudo netplan apply`を実行します 3. `$ ip addr`でWi-Fiに接続できているか確認します - -### 有線LANを使用し、PCのネットワークを利用する {: #pc-lan} - -**Raspberry Pi**と**Ubuntu PC**間で有線LAN接続を行い、PCのネットワークを利用する手順について説明します。 - -!!! Warning - **Ubuntu PC**は**Wi-Fi**に接続している必要があります。 - -1. PC側でEthernetの接続プロファイルを作成します -`PROFILE-NAME`は任意の名前、`NIC-NAME`は`ip addr`コマンド等で調べたEthernetのインターフェイス名です。 -```sh -$ sudo apt install net-tools -$ nmcli connection add type ethernet con-name PROFILE-NAME ifname NIC-NAME ipv4.method shared -``` -2. プロファイルを作成後、プロファイルの適用を行います -`PROFILE-NAME`には、作成したプロファイル名を入れます。 -```sh -$ nmcli con up PROFILE-NAME ifname NIC-NAME -``` -3. `$ ip addr`で有線LAN接続ができているか確認します -4. Raspberry Piにssh接続 -Raspberry PiのIPアドレスを調べるために`arp-scan`コマンドを使用します。 -```sh -$ sudo apt install arp-scan -$ sudo arp-scan -l -I NIC-NAME -``` -Raspberry PiのIPアドレスが出てきたら、そのIPを使用しssh接続を行います。 -`Raspberry-Pi-IP`には、調べたIPアドレスを入れます。 -```sh -$ ssh ubuntu@Raspberry-Pi-IP -``` -5. ssh接続ができたら、Raspberry PiがPCのネットワークを利用できているか確認します -```sh -$ ping '8.8.8.8' -``` From 206d2748cf8bf0a271791f63ca87d1e97b686710 Mon Sep 17 00:00:00 2001 From: Daisuke Sato Date: Mon, 19 Dec 2022 11:50:21 +0900 Subject: [PATCH 22/38] =?UTF-8?q?SLAM=E5=AE=9F=E8=A1=8C=E6=99=82=E3=81=AE?= =?UTF-8?q?=E3=82=B3=E3=83=9E=E3=83=B3=E3=83=89=E4=BF=AE=E6=AD=A3?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- docs/raspicat/simulator/samples.md | 64 +++++++++++++++++++----------- 1 file changed, 41 insertions(+), 23 deletions(-) diff --git a/docs/raspicat/simulator/samples.md b/docs/raspicat/simulator/samples.md index 41302eb..76d9e06 100644 --- a/docs/raspicat/simulator/samples.md +++ b/docs/raspicat/simulator/samples.md @@ -67,10 +67,13 @@ $ roslaunch raspicat_bringup teleop.launch joy:=true $ roslaunch raspicat_gazebo raspicat_with_iscas_museum.launch rviz:=false # gmappingの実行 - $ roslaunch raspicat_slam raspicat_gmapping.launch joy:=false - - # 地図の保存 - $ roslaunch raspicat_slam map_save.launch map_file:=map-path + $ roslaunch raspicat_slam raspicat_gmapping.launch + + # キーボード操縦用ノードの立ち上げ + $ roslaunch raspicat_bringup teleop.launch joy:=false + + # 地図の保存（map_fileへのパスは任意のパスを指定できます） + $ roslaunch raspicat_slam map_save.launch map_file:=$(rospack find raspicat_slam)/config/maps ``` === "cartographer" ```sh @@ -78,10 +81,13 @@ $ roslaunch raspicat_bringup teleop.launch joy:=true $ roslaunch raspicat_gazebo raspicat_with_iscas_museum.launch rviz:=false # cartographerの実行 - $ roslaunch raspicat_slam raspicat_cartographer.launch joy:=false - - # 地図の保存 - $ roslaunch raspicat_slam map_save.launch map_file:=map-path + $ roslaunch raspicat_slam raspicat_cartographer.launch + + # キーボード操縦用ノードの立ち上げ + $ roslaunch raspicat_bringup teleop.launch joy:=false + + # 地図の保存（map_fileへのパスは任意のパスを指定できます） + $ roslaunch raspicat_slam map_save.launch map_file:=$(rospack find raspicat_slam)/config/maps ``` === "slam_toolbox" ```sh @@ -89,10 +95,13 @@ $ roslaunch raspicat_bringup teleop.launch joy:=true $ roslaunch raspicat_gazebo raspicat_with_iscas_museum.launch rviz:=false # slam_toolboxの実行 - $ roslaunch raspicat_slam raspicat_slam_toolbox.launch joy:=false - - # 地図の保存 - $ roslaunch raspicat_slam map_save.launch map_file:=map-path + $ roslaunch raspicat_slam raspicat_slam_toolbox.launch + + # キーボード操縦用ノードの立ち上げ + $ roslaunch raspicat_bringup teleop.launch joy:=false + + # 地図の保存（map_fileへのパスは任意のパスを指定できます） + $ roslaunch raspicat_slam map_save.launch map_file:=$(rospack find raspicat_slam)/config/maps ``` #### ジョイスティックコントローラで操縦 {: #slam-teleop-joy} @@ -102,10 +111,13 @@ $ roslaunch raspicat_bringup teleop.launch joy:=true $ roslaunch raspicat_gazebo raspicat_with_iscas_museum.launch rviz:=false # gmappingの実行 - $ roslaunch raspicat_slam raspicat_gmapping.launch joy:=true - - # 地図の保存 - $ roslaunch raspicat_slam map_save.launch map_file:=map-path + $ roslaunch raspicat_slam raspicat_gmapping.launch + + # ジョイスティック操縦用ノードの立ち上げ + $ roslaunch raspicat_bringup teleop.launch joy:=true + + # 地図の保存（map_fileへのパスは任意のパスを指定できます） + $ roslaunch raspicat_slam map_save.launch map_file:=$(rospack find raspicat_slam)/config/maps ```