Simulation: https://www.youtube.com/watch?v=KVZ-aN0yCDk

Live Run: https://www.youtube.com/watch?v=i21RZtkrJXI

The onboard Raspberry Pi will execute all packages related to sensor processing, SLAM, and navigation. A separate computer is required to visualize the operation of the robot via Rviz2 and send commands (graphically) to save map and navigate to waypoints. As a future work, the execution of these commands can be written and further customized using API calls (see slam_toolbox and Nav2 documentation) and offloaded to the Raspberry Pi.

1. Install Ubuntu 22.04 (Jammy Jellyfish) on computer
2. Install ROS 2 Humble on computer

1. Power on the Create 3
2. Connect the Raspberry Pi to a monitor/keyboard/mouse
3. *Install Ubuntu and ROS 2 on the Pi (No need to do this because the robot will be delivered with these pre-installed; Only do this if reinstalling from scratch)
4. Setup a Wifi connection on the Pi
5. Setup git and clone this repository onto the Pi via git clone [email protected]:splouisliu/bloomba.git
6. Find the local IP address of the Pi and SSH into it from the computer
7. Setup the Create 3 and ensure that it's connected to the same Wifi network as the Pi (Can only connect to 2.4GHz Wi-Fi networks).

You should now have access to two ROS environments via the terminals of the computer: the computer itself, and the Pi (SSH'd in)

Refer to the below ROS2 commands for this section:

1. On both the computer and the Pi, execute all Basic commands
2. On the Pi, execute SLAM bringup (live robot)
3. On the computer, execute rviz2 ros2 launch bloomba_bringup rviz_launch.py
4. Open another terminal and execute teleop. Use this to drive the robot around the office to build a map
5. Once the map is complete, find the slam_toolbox plugin in Rviz2 to save the map. The map will be saved as two files located in the workspace directory of the Pi: EXAMPLE.pgm and EXAMPLE.yaml.
6. SLAM is now complete. Close the terminal running the code.
7. To navigate, execute Navigation bringup (live robot) using the following command: ros2 launch bloomba_bringup live_nav_launch.py map:=EXAMPLE.yaml
8. Using the Nav2 plugin, first estimate the pose of the robot's initial location. A set of green dots should appear. If they don't relaunch the code.
9. Next, set waypoints via drag-and-drop for the robot to navigate towards!

Make sure Arduino is connected to Raspberry Pi and powered from the Create 3 adapter board. On the Raspberry Pi, switch to branch “andrew” on the github repo.

1. cd bloomba/bloomba_ws/

2. git checkout andrew

3. colcon build –packages-select plant_docking

4. On the Raspberry Pi, run ros2 run plant_docking watering_arm.

5. Switching back to the computer, a separate terminal run ros2 topic pub /keyboard std_msgs/String "data: 'l0.1'" --once. This will lower the arm by 10 cm and then water the plant. The arm will then move back up by 10 cm.

6. If you want to lower by 20 cm, change “l0.1” to “l0.2”. For 30 cm, change it to “l0.3”.

Enter workspace:

cd <INSERT PATH>/bloomba/bloomba_ws

Build (on PC):

rosdep install --from-path src -yi
colcon build --symlink-install

Build (on live robot):

rosdep install --from-path src/bloomba_bringup src/bloomba_navigation src/bloomba_slam -yi
colcon build --symlink-install --packages-select bloomba_bringup bloomba_navigation bloomba_slam

Source:

source install/local_setup.bash

Run SLAM bringup (on PC):

ros2 launch bloomba_bringup sim_slam_launch.py

Run navigation bringup (on PC):

ros2 launch bloomba_bringup sim_nav_launch.py

Run SLAM bringup (on live robot):

ros2 launch bloomba_bringup live_slam_launch.py

Run navigation bringup (on live robot):

ros2 launch bloomba_bringup live_nav_launch.py

Run sim (on PC):

ros2 launch irobot_create_gazebo_bringup create3_gazebo_office.launch.py use_rviz:=false spawn_dock:=false

Run lidar (on live robot): ros2 launch bloomba_bringup sensors_launch.py

Run laser filters:

ros2 launch bloomba_bringup laser_filters_launch.py

Run teleop:

ros2 run teleop_twist_keyboard teleop_twist_keyboard

Run slam:

ros2 launch bloomba_slam online_async_launch.launch.py

Run rviz:

ros2 launch bloomba_bringup rviz_launch.py

Run navigation:

ros2 launch bloomba_navigation bringup_launch.py map:="maps/map_office_sim.yaml"

Run rosbridge:

ros2 launch rosbridge_server rosbridge_websocket_launch.xml

Visualize TF:

ros2 run tf2_tools view_frames