ROBO DC - UFSCar

This package offers a toolkit for autonomous robots.

Operational System	Ubuntu 20.04
ROS
Gazebo	Gazebo multi-robot simulator - version 11.13.0

Features

• Mobile robot
• RPLidar
• Velodyne

Required packages in apt-get:

sudo apt-get install ros-noetic-amcl ros-noetic-costmap-converter ros-noetic-depthimage-to-laserscan ros-noetic-dynamic-reconfigure ros-noetic-ddynamic-reconfigure ros-noetic-ddynamic-reconfigure-dbgsym ros-noetic-ddynamic-reconfigure-python ros-noetic-geometry2 ros-noetic-hector-slam ros-noetic-move-base ros-noetic-move-base-flex ros-noetic-navigation ros-noetic-openslam-gmapping ros-noetic-rplidar-ros ros-noetic-slam-gmapping ros-noetic-spatio-temporal-voxel-layer ros-noetic-teb-local-planner ros-noetic-teleop-twist-keyboard ros-noetic-teleop-twist-joy ros-noetic-urg-node ros-noetic-rtabmap ros-noetic-rtabmap-ros ros-noetic-octomap ros-noetic-octomap-ros ros-noetic-octomap-rviz-plugins ros-noetic-octomap-server ros-noetic-octovis ros-noetic-imu-filter-madgwick ros-noetic-robot-localization ros-noetic-robot-pose-ekf ros-noetic-pointcloud-to-laserscan ros-noetic-rosbridge-server ros-noetic-map-server ros-noetic-realsense2-camera ros-noetic-realsense2-description ros-noetic-cmake-modules ros-noetic-velodyne-gazebo-plugins ros-noetic-ompl ros-noetic-navfn ros-noetic-dwa-local-planner ros-noetic-global-planner ros-noetic-costmap-2d ros-noetic-robot-self-filter ros-noetic-ros-numpy ros-noetic-pcl-ros ros-noetic-pcl-conversions ros-noetic-grid-map-costmap-2d ros-noetic-grid-map-ros ros-noetic-grid-map-filters ros-noetic-grid-map-visualization ros-noetic-tf2-tools pcl-tools

Check dependences on workspace with:

rosdep install --from-paths src --ignore-src -r -y

Build workspace command:

catkin_make -DCMAKE_BUILD_TYPE=Release   

Step 0 - Ubuntu 20.04

0.1 - Create Installation Media

Download Ubuntu 20.04:* Visit the official Ubuntu website at https://ubuntu.com/download and download the Ubuntu 20.04 LTS ISO image.

Warning

Ensure you select the correct version for your system's architecture (32-bit or 64-bit) and the "Download" option for the desktop.

Create a bootable USB drive using a tool like "Rufus" on Windows or "Etcher" on Linux or macOS. This will allow you to boot Ubuntu from the USB drive.

0.2 - Booting into Ubuntu 20.04

Warning

Before you begin, make sure to back up your important data, as the installation of the operating system typically involves disk formatting.

 0.2.1 - Connect the bootable USB drive to your computer.
 
 0.2.2 - Restart your computer and access the boot menu (usually by pressing a specific key like F2, F12, or Delete during startup).
 
 0.2.3 - In the boot menu, choose the option corresponding to the USB drive you created and press Enter.

0.3: Installing Ubuntu 20.04

0.3.1 - The Ubuntu Live USB will start. You can try Ubuntu without installing it, but for installation, click the "Install Ubuntu" icon on the desktop.

0.3.2 -Follow the on-screen instructions to select your language, time zone, and keyboard layout.

0.3.3 -When you reach the disk partitioning screen, you have the following options:

   "Erase disk and install Ubuntu": This option will erase all contents of the disk and install Ubuntu. Use this option if you no longer need any existing operating system.
 
   "Install alongside [another operating system]": This option allows you to keep your existing operating system and install Ubuntu alongside it, creating a dual-boot configuration. You can choose which operating system to boot when starting your computer.
  
   "Something else": If you want to configure partitions manually, you can select this option.

0.3.4 -Follow the instructions to create a user account, set a password, and choose a computer name.

0.3.5 -Complete the installation process and restart your computer when prompted.

0.3.6 -After restarting, you will be running **Ubuntu 20.04**. You can log in with the user account you created during the installation.

Step 1 - Preparing the Environment

Important

Before installing the MRS System, set up the environment and ensure proper graphics driver compatibility.

Graphics card

To check and configure a graphics card correctly on an Ubuntu 20.04 system, you can follow these steps:

1.1: Check if you have a graphics card.

You can use the following command to list information about your graphics card:

sudo update-pci ids
lspci | grep -i vga

This command will display information about your graphics card if you have one.

Note

lspci command lists PCI devices, including their manufacturer and model information. When you execute the lspci | grep -i vga command, you filter the list to display only information related to the graphics card.

If a graphics card is installed in your system, the output of the command typically looks something like this:

01:00.0 VGA compatible controller: NVIDIA Corporation GP106 [GeForce GTX 1060 6GB] (rev a1)

In this example, the manufacturer is "NVIDIA Corporation," and the model is "GeForce GTX 1060 6GB."

1.2. Check graphics card compatibility:

To ensure smooth performance, verify the appropriate driver of your graphics card.

Open a terminal and enter the following command to list available drivers:

1.3: Install graphics driver

If the drivers are available, install them using the ubuntu-drivers command (a tool for managing system-recommended drivers). Run the following commands:

sudo apt-get update
sudo apt-get install ubuntu-drivers-common
sudo ubuntu-drivers autoinstall

This will install the recommended drivers for your graphics card.

Note

If you have an NVIDIA graphics card. You also can check that NVIDIA drivers are available for your graphics card by visiting the NVIDIA website (https://www.nvidia.com/Download/index.aspx). If needed, you might have to replace it with a supported version.

1.4: Update NVIDIA Driver:

If your current NVIDIA driver version is not supported, you'll need to update it. For example, if your driver version is nvidia-driver-510-server, use the appropriate version number and execute the following commands:

sudo apt install nvidia-driver-X  # Replace X with your supported version
sudo reboot

After installing the drivers, you can verify if the graphics card has been correctly recognized using the following command:

nvidia-smi

1.5: Restart the system: Remember to restart your system if required after installing the drivers.

sudo reboot

Install Dependencies:

Ensure you have the necessary tools installed for a smooth installation. Run these commands:

sudo apt-get update -y

sudo apt-get install -y nautilus-open-terminal

sudo apt-get install gedit ssh libjpeg-dev libpng-dev libtiff-dev libx11-dev libavformat-dev libavdevice-dev libavcodec-dev libavutil-dev libswresample-dev libglu-dev libdc1394-22-dev libglu1-mesa-dev freeglut3-dev mesa-common-dev python-pip3 git gitman tmux tmuxinator

Note. Case error check the package. ** Updating pip**

To ensure you have the latest version of pip, you can run the following command:

python3 -m pip install --upgrade pip

pip install numpy scipy scikit-learn scikit-image

With the environment set up and graphics drivers, you're now ready to install the MRS System.

Step 2 - Install the ROS Noetic

Install the Robot Operating System (Noetic):

curl https://ctu-mrs.github.io/ppa-unstable/add_ros_ppa.sh | bash

sudo apt install ros-noetic-desktop-full

Step 3 - Package the SuperMegaBot

Create the directories

mkdir -p /home/$USER/workspace/src
cd /home/$USER/workspace/

Initialize the Catkin workspace

catkin init
catkin config --extend /opt/ros/noetic
catkin config -DCMAKE_BUILD_TYPE=Release

Navigate to the directory of src to clone the SuperMegaBot_SMB project

cd /home/$USER/workspace/src/smb_workspace
git clone https://github.com/rrdpereira/SuperMegaBot_SMB.git

Build the project

cd /home/$USER/workspace/
catkin build

Source your catkin workspace

source /home/$USER/workspace/devel/setup.bash

(optional) may you find some errors, so you can use the "Magic" of rosdep

cd /home/$USER/workspace/src/smb_workspace
rosdep install --from-paths . --ignore-src --os=ubuntu:focal -r -y

cd /home/$USER/workspace/src/smb_workspace
catkin build

Required packages in GIT links:

cd /home/$USER/workspace/src
git clone [https://github.com/vivaldini/ROBO_DC.git](https://github.com/vivaldini/ROBO_DC.git)
cd /home/$USER/workspace/
catkin build

Extra 2 - Learning ROS

Communication with the MRS is done through ROS. If you are not yet aware, it is interesting to carry out the tutorial 1.1.1 to 1.1.18 link: http://wiki.ros.org/ROS/Tutorials

Note:

1. It is important to improve your expertise to do the tutorials. That will be passed as Frequency Activities.

Extra 3: Use algorithms and information available from MRS

Repository 1: https://ctu-mrs.github.io/docs/system/uav_ros_interface.html#uavmanager

Repository 2: https://ctu-mrs.github.io/docs/software/mavros.html#used-topics-and-services

Topic Informations:

• Localization: /uav1/odometry/odom_main
• Laser: /uav1/garmin/range
• Global motion: /uav1/control_manager/reference
• Local motion: /uav1/control_manager/goto_fcu

Support

For support, send an email to [email protected].