roboguard-pi

This repo contains the packages required to ron on roboguard-pi.

Status

Installation Options

Docker Container (Recommended)

Using a dev container ensures consistent environments across development and CI/CD pipelines.

Windows Setup

1. Install required software:

   • Docker Desktop
   • Visual Studio Code
   • VcXsrv (Xserver)
   • VSCode Remote - Containers extension

2. Setup steps:

   • Clone and open the repository
   • Click the green button in VSCode's bottom left corner
   • Select "Remote-Containers: Reopen in Container"
   • Start Xserver with the -nowgl option

Linux Setup

Follow the same steps as Windows, excluding Xserver installation. Additionally:

1. Update DISPLAY environment variable in .env:

   echo DISPLAY=$DISPLAY

2. Configure controller node permissions:

   cat /dev/input/event0

Note: Consider configuring Docker for non-root usage

Native/WSL Installation

Requires Ubuntu 22.04 LTS.

1. Install prerequisites:

   • ROS2 Humble (use ros-humble-desktop-full)

2. Install dependencies (from input_manager):

   sudo apt install python3-evdev

3. Setup workspace:

   git clone --recurse-submodules https://github.com/clubcapra/roboguard_pi.git
   cd roboguard_pi
   sudo rosdep init
   rosdep update
   rosdep install --from-paths src --ignore-src -r -y
   colcon build --symlink-install
   source install/setup.bash

On a Raspberry Pi

Docker

Install docker:

curl -fsSL https://get.docker.com -o get-docker.sh
sudo sh ./get-docker.sh

Running Roboguard

Note that if you are developing, you should use a different ROS_DOMAIN_ID than the robot's. If you do want to connect to the same domain ID, use:

ROS_DOMAIN_ID=96

This command needs to be run in every terminal you intend to communicate with the robot.

Normal launch

You can launch the real-world robot using the following command:

ros2 launch roboguard_bringup real.launch.py

Here are the arguments that can be used:

Argument	Default	Description
use_mock_odrives	false	Set this to true to use mock hardware interfaces. This allows testing out controlling the drives without having the hardware.
with_ovis	true	Choose whether to launch Ovis. When this is true, Ovis will appear in the URDF.
use_mock_ovis	false	Set this to true to use mock hardware interfaces. This allows testing out controlling Ovis without having the hardware.
with_rosbag	true	When this is true, rosbag will start logging and will compress the rosbag on a successful shutdown.

Use args like so:

ros2 launch roboguard_bringup real.launch.py <arg>:=<value>

Teleop

In order to control the robot, you need to run the teleop nodes:

ros2 launch roboguard_bringup teleop.launch.py

Topic naming convention

Topics that start with /rove are topics that are handled. Topics that start with /rove/station are topics that should not be listened to from the robot, they should stay on the station (control station). topics that start with /rove/robot are topics that should stay on the robot. Topics that start with /rove/to_robot are topics that should be sent from station to robot. Topics that start with /rove/to_station are topics that should be sent from robot to station.

Contributing

Before pushing your code, you should try to deploy it by using:

run_test

This will do essentially what the github action will do. It will start a docker, pull dependencies, install required packages and test the code. This does not ensure the code is working, but it helps catch issues before making a pull request.