# ASTRA Rover ROS2 Packages [![License: AGPL v3](https://img.shields.io/badge/License-AGPL_v3-blue.svg)](https://www.gnu.org/licenses/agpl-3.0) Includes all main ROS2 packages for the rover. These are centrally located for modular rover operation. You will use these packages to launch all rover-side ROS2 nodes. ## Table of Contents - [Software Prerequisites](#software-prerequisites) - [Nix](#nix) - [ROS2 Humble + rosdep](#ros2-humble--rosdep) - [Running](#running) - [Testing Serial](#testing-serial) - [Connecting the GuliKit Controller](#connecting-the-gulikit-controller) - [Common Problems/Toubleshooting](#common-problemstroubleshooting) - [Packages](#packages) - [Graphs](#graphs) - [Full System](#full-system) - [Individual Nodes](#individual-nodes) - [Maintainers](#maintainers) ## Software Prerequisites You need either [ROS2 Humble](https://docs.ros.org/en/humble/index.html) with [rosdep](https://docs.ros.org/en/humble/Tutorials/Intermediate/Rosdep.html#rosdep-installation) or [Nix](https://nixos.org/download/#nix-install-linux) installed. We recommend using Nix. ### Nix With Nix, all you have to do is enter the development shell: ```bash $ cd path/to/rover-ros2 $ nix develop ``` ### ROS2 Humble + rosdep With ROS2 Humble, start by using rosdep to install dependencies: ```bash # Setup rosdep $ sudo rosdep init # only run if you haven't already $ rosdep update # Install dependencies $ cd path/to/rover-ros2 $ rosdep install --from-paths src -y --ignore-src ``` ## Running ```bash $ colcon build $ source install/setup.bash # main launch files: $ ros2 launch anchor_pkg rover.launch.py # Must be run on a computer connected to a MCU on the rover. $ ros2 run headless_pkg headless_full # Optionally run in a separate shell on the same or different computer. ``` ### Testing Serial You can fake the presence of a Serial device (i.e., MCU) by using the following command: ```bash $ socat -dd -v pty,rawer,crnl,link=/tmp/ttyACM9 pty,rawer,crnl,link=/tmp/ttyOUT ``` When you go to run anchor, use the `PORT_OVERRIDE` environment variable to point it to the fake serial port, like so: ```bash $ PORT_OVERRIDE=/tmp/ttyACM9 ros2 launch anchor_pkg rover.launch.py ``` ### Connecting the GuliKit Controller These instructions apply to the black XBox-style GuliKit controller, primarily used for controlling Arm through Basestation. * Connect the controller to your PC with a USB-C cable * Select the "X-Input" control mode (Windows logo) on the controller. * Hold the button next to the symbols (windows, android, switch, etc...) * You'll need to release the button and press down again to cycle to the next mode ## Common Problems/Troubleshooting **Q**: When I try to launch the nodes, I receive a `package '' not found` error. A: Make sure you have sourced the workspace in the current shell: ```bash $ source install/setup.bash # or setup.zsh if using ZSH ``` **Q**: When I try to launch the nodes, I receive several `FileNotFoundError: [Errno 2]` errors. A: Sometimes the install files get messed up by running `colcon build` in different shells or updating packages. Try running the following commands to clean up your local build files: ```bash $ rm -rf build/ install/ $ colcon build ``` **Q**: When I run `colcon build` after the above suggestion, I receive several of the following errors: ```bash [0.557s] WARNING:colcon.colcon_ros.prefix_path.ament:The path '' in the environment variable AMENT_PREFIX_PATH doesn't exist ``` A: Don't worry about it. If you had the workspace sourced, ROS2 will complain about the workspace install files not existing anymore after you deleted them. They will be re-created by `colcon build`, after which you can run `source install/setup.bash` to source the new install files. **Q**: When I try to launch Anchor, I receive the following errors: ```bash [anchor-5] [INFO] [1762239452.937881841] [anchor]: Unable to find MCU... ... [ERROR] [anchor-5]: process has died [pid 101820, exit code 1, cmd '.../rover-ros2/install/anchor_pkg/lib/anchor_pkg/anchor --ros-args -r __node:=anchor --params-file /tmp/launch_params_nmv6tpw4']. [INFO] [launch]: process[anchor-5] was required: shutting down launched system [INFO] [bio-4]: sending signal 'SIGINT' to process[bio-4] [INFO] [ptz-3]: sending signal 'SIGINT' to process[ptz-3] [INFO] [core-2]: sending signal 'SIGINT' to process[core-2] [INFO] [arm-1]: sending signal 'SIGINT' to process[arm-1] ... ``` A: To find a microcontroller to talk to, Anchor sends a ping to every Serial port on your computer. If it does not receive a 'pong' in less than one second, then it aborts. There are a few possible fixes: - Keep trying to run it until it works - Run `lsusb` to see if the microcontroller is detected by your computer. - Run `ls /dev/tty*0` to see if there is a valid Serial port enumerated for the microcontroller. - Check if you are in the `dialout` group (or whatever group shows up by running `ls -l /dev/tty*`). ## Packages - [anchor\_pkg](./src/anchor_pkg) - Handles Serial communication between the various other packages here and the microcontroller. - [arm\_pkg](./src/arm_pkg) - Relays controls and sensor data for the arm (socket and digit) between anchor and basestation/headless. - [astra\_descriptions](./src/astra_descriptions) - Submodule with URDF-related packages. - [bio\_pkg](./src/bio_pkg) - Like arm_pkg, but for CITADEL and FAERIE - [core\_pkg](./src/core_pkg) - Like arm_pkg, but for Core - [headless\_pkg](./src/headless_pkg) - Simple, non-graphical controller node to work in place of basestation when controlling the rover by itself. This is autostarted with anchor to allow for setup-less control of the rover. - [latency\_tester](./src/latency_tester) - A temporary node to test comms latency over ROS2, Serial, and CAN. - [ros2\_interfaces\_pkg](./src/ros2_interfaces_pkg) - Contains custom message types for communication between basestation and the rover over ROS2. (being renamed to `astra_msgs`). - [servo\_arm\_twist\_pkg](./src/servo_arm_twist_pkg) - A temporary node to translate controller state from `ros2_joy` to `Twist` messages to control the Arm via IK. ## Graphs ### Full System > **Anchor stand-alone** (`ros2 launch anchor_pkg rover.launch.py`) > > ![rqt_graph of Anchor by itself, ran with command: ros2 launch anchor_pkg rover.launch.py](./docs-resources/graph-anchor-standalone.png) > **Anchor with [basestation-classic](https://github.com/SHC-ASTRA/basestation-classic)** > > ![rqt_graph of Anchor ran with the same command as above, talking to basestation-classic](./docs-resources/graph-anchor-w-basestation-classic.png) > **Anchor with Headless** (`ros2 run headless_pkg headless_full`) > > ![rqt_graph of Anchor ran with Headless](./docs-resources/graph-anchor-w-headless.png) ### Individual Nodes > **Anchor** (`ros2 run anchor_pkg anchor`) > > ![rqt_graph of Anchor node running by itself](./docs-resources/graph-anchor-anchor-standalone.png) > **Core** (`ros2 run core_pkg core --ros-args -p launch_mode:=anchor`) > > ![rqt_graph of Core node running by itself](./docs-resources/graph-anchor-core-standalone.png) > **Arm** (`ros2 run arm_pkg arm --ros-args -p launch_mode:=anchor`) > > ![rqt_graph of Arm node running by itself](./docs-resources/graph-anchor-arm-standalone.png) > **Bio** (`ros2 run bio_pkg bio --ros-args -p launch_mode:=anchor`) > > ![rqt_graph of Bio node running by itself](./docs-resources/graph-anchor-bio-standalone.png) ## Maintainers | Name | Email | Discord | | ---- | ----- | ------- | | David Sharpe | | `@ddavdd` | | Riley McLain | | `@ryleu` |