3 - ROS2 - Manipulation Mobile

Assemblage du Turtlebot et OpenManipulator-X et configuration initiale

https://www.classes.cs.uchicago.edu/archive/2022/fall/20600-1/turtlebot_assembly_setup.html

A Word of Caution

This page is NOT intended for student use. This page is designed for course staff to build and maintaing the turtlebots. If you are a student, please ensure you have permission from course staff before making any of the changes detailed on this page to any of the turtlebots.


Setup Checklist


Turtlebot Assembly Tips

Turtlebot3

OpenMANIPULATOR Arm


OpenMANIPULATOR Arm First-Time Configuration

After assembling an OpenMANIPULATOR arm, its servos must first be configured properly before it can be used. By default, all the arm motors are set to the same ID (1) and the wrong baud rate, which causes collisions when trying to detect them.

  1. Connect a SINGLE motor (no daisy-chains in the arm) to the OpenCR module and DISCONNECT ALL OTHER MOTORS (the wheel motors!!)
  2. Open up Dynamixel Wizard 2.0 and update the firmware for that motor by following this tutorial. The arm Dynamixel model is XM430-W350, and the wheel motors are XM430-W210.
  3. Scan for connected Dynamixels using the “Scan” button on the top menu. If the scan does not turn up any results, you may need to change the scan options in the "Options" menu. By default, an unconfigured arm motor will have ID 1, be on Protocol 2.0, and have a baud rate of 57600 bps.
  4. Change the ID for the detected motor from 1 to 11/12/13/14/15 (whichever you're doing the procedure for). Click on the “ID” item, and find the ID # you want in the lower right corner. Click it and press “Save”.
  5. Change the baud rate to 1M (if not already 1M). Click on the “Baud Rate (Bus)” item, and find the 1 Mbps option. Click it and press “Save”.
  6. Disconnect the motor (both in the wizard by clicking “Disconnect” up top and physically disconnecting from the board) and repeat the steps for the remaining ones.


Attaching/Detaching the OpenMANIPULATOR Arm

Physical Attachment/Detachment

Follow these steps below:

  1. The arm can be attached and detached by first removing the top layer of the the Turtlebot. There are 10 screws around the perimeter of the top layer that you will need to remove with a Phillips head / cross screwdriver.
  2. Once the top layer of the Turtlebot is loose, disconnect the cable that is attached to the LiDAR. This cable is multi-colored with several pins.
    Note: ONLY remove this LiDAR cable in this step.

    Turtlebot3 with an arm.

    Once the top layer is fully disconnected, flip the top layer upside-down for easy access.
  3. To connect the arm, there are four screws that you will need to insert through the bottom side of the top layer that connect to Dynamixel #11. The exact location of the screws are marked in the picture below. Use an hex/allen key to secure them.

    Turtlebot3 with an arm.

  4. Once the arm is securely attached, thread the cable connected to DynaMIXEL #11 through the top layer (if not already threaded) and attach the other end to the remaining 3-pin slot on the OpenCR board. It should be the open slot adjacent to the already occupied slots.
  5. Reconnect the LiDAR cable and re-screw the top layer onto the robot.

To disconnect the arm, follow the same steps as above, but remove the four screws instead and disconnect the DynaMIXEL.

Updating Firmware and Files

Every time the arm is attached or detached, you will need to reconfigure environment variables and update the OpenCR firmware.

If you are attaching the arm, set the environment variable OPENCR_MODEL=om_with_tb3 and ensure that OPENCR_PORT=/dev/ttyACM0 in the ~/.bashrc file.

Note: You can also set those environment variables in the command line by running:
$ export OPENCR_PORT=/dev/ttyACM0
$ export OPENCR_MODEL=om_with_tb3

Source the file and update the firmware with:

$ source ~/.bashrc
$ cd ~/opencr_update && ./update.sh $OPENCR_PORT $OPENCR_MODEL.opencr


If you are detaching the arm, set the environment variable OPENCR_MODEL=waffle and ensure that OPENCR_PORT=/dev/ttyACM0 in the ~/.bashrc file.

Enter the OpenCR board into firmware recovery mode by pressing and holding SW2, and simultaneously pressing RESET (you will need to remove the top layer of the turtlebot in order to access those OpenCR buttons). If you want to read more about the OpenCR bootloader, please refer to this page in the OpenCR 1.0 manual.


buttons on OpenCR

Source the file and update the firmware with:

$ source ~/.bashrc
$ cd ~/opencr_update && ./update.sh $OPENCR_PORT $OPENCR_MODEL.opencr


Common Errors During Setup

Firmware Recovery Mode and Device Firmware Update for OpenCR Board

We found the firmware recovery mode not clearly detailed in the Turtlebot3 manual. Here are the steps for firmware recovery:

  1. Push and hold SW2
  2. Press RESET
  3. Release SW2
  4. Arduino code should upload successfully with jump_with_fw

Firmware recovery is different from device firmware update (DFU), where the steps are:

  1. Push and hold BOOT
  2. Press RESET
  3. Release BOOT

Troubleshooting /dev/ttyACM0 Connection Issues

If the /dev/ttyACM0 port isn't found or running bringup on the Pi is hanging:

If the hydro rosserial / groovy Arduino error appears:

Installation et démarrage du Turtlebot & OpenManipulator-X

Installation Ubuntu Server

Version rapide

sudo umount /media/user/writable /media/user/system-boot

Attention, bien vérifier le disque associé à la carte SD avant de lancer la commande dd. Sinon on risque d'écraser le disque dur. En général disque dur = /dev/sda et carte SD = /dev/sdb

sudo gunzip -c ~/turtlebot3-manipulator-humble.img.gz | sudo dd of=/dev/sdb status=progress
            addresses: [IP_TURTLEBOT/24]
            gateway4: IP_BOX
            nameservers:
                addresses: [DNS_BOX_OPERATEUR, 9.9.9.9, 89.234.141.66]
            access-points:
                "SSID_WIFI":
                    password: PASSWORD_WIFI

Remarque : l'image a été créée après avoir suivi les instructions longues ci-dessous (et quelques workspace et package ros installés en plus) en lançant la commande suivante :

sudo dd if=/dev/sda status=progress | gzip -9 > ~/turtlebot3-manipulator-humble.img.gz

Reinitialiser le mot-de-passe

Voir la section 4 ici

Version longue

https://emanual.robotis.com/docs/en/platform/turtlebot3/sbc_setup/#sbc-setup 

Depuis un ordinateur sous Ubuntu 22.04

Depuis une VM WSL Ubuntu 22

Configurer la connexion automatique au réseau wifi et donner une IP fixe au robot (dans la plage DHCP autorisée par le routeur)  :

network:
    renderer: networkd
    ethernets:
        eth0:
            dhcp4: true
            dhcp6: true
            optional: true
    wifis:
        wlan0:
            dhcp4: false
            dhcp6: false
            addresses: [192.168.100.40/24]
            gateway4: 192.168.100.1
            nameservers:
                addresses: [192.168.100.1, 9.9.9.9, 89.234.141.66]
            access-points:
                fablab:
                    password: ...
    version: 2
network: {config: disabled}

Insérer la carte dans le robot, le démarrer assez proche du hotspot wifi configuré, se connecter en ssh depuis l'ordinateur :

Installer ROS 2 Humble sans interfaces graphiques (ros-humble-desktop) qui seront lancées sur l'ordinateur externe :

sudo apt update && sudo apt install locales
sudo locale-gen en_US en_US.UTF-8
sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
export LANG=en_US.UTF-8
sudo apt install software-properties-common
sudo add-apt-repository universe
sudo apt update && sudo apt install curl
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
sudo apt update && sudo apt upgrade
sudo apt install ros-humble-ros-base ros-dev-tools
source /opt/ros/humble/setup.bash
echo 'source /opt/ros/humble/setup.bash' >> ~/.bashrc

Installer le workspace du turtlebot et les dépendances :

sudo apt install python3-argcomplete python3-colcon-common-extensions libboost-system-dev build-essential
sudo apt install ros-humble-hls-lfcd-lds-driver
sudo apt install ros-humble-turtlebot3-msgs
sudo apt install ros-humble-dynamixel-sdk
sudo apt install libudev-dev
mkdir -p ~/turtlebot3_ws/src && cd ~/turtlebot3_ws/src
git clone -b humble-devel https://github.com/ROBOTIS-GIT/turtlebot3.git
git clone -b ros2-devel https://github.com/ROBOTIS-GIT/ld08_driver.git
cd ~/turtlebot3_ws/src/turtlebot3
rm -r turtlebot3_cartographer turtlebot3_navigation2
cd ~/turtlebot3_ws/
echo 'source /opt/ros/humble/setup.bash' >> ~/.bashrc
source ~/.bashrc
colcon build --symlink-install --parallel-workers 1
echo 'source ~/turtlebot3_ws/install/setup.bash' >> ~/.bashrc
source ~/.bashrc

Configurer le Port USB pour OpenCR :

sudo cp `ros2 pkg prefix turtlebot3_bringup`/share/turtlebot3_bringup/script/99-turtlebot3-cdc.rules /etc/udev/rules.d/
sudo udevadm control --reload-rules
sudo udevadm trigger

ID de domain ROS pour la communication DDS :

echo 'export ROS_DOMAIN_ID=30 #TURTLEBOT3' >> ~/.bashrc
source ~/.bashrc

Configurer le modèle du LIDAR : 

echo 'export LDS_MODEL=LDS-02' >> ~/.bashrc
source ~/.bashrc

Montage et Configuration des Dynamixels

https://www.classes.cs.uchicago.edu/archive/2022/fall/20600-1/turtlebot_assembly_setup.html

Pour l'Open-Manipulator

Configurer les dynamixel (baud et ID 11 à 15) https://www.classes.cs.uchicago.edu/archive/2022/fall/20600-1/turtlebot_assembly_setup.html#arm-first-time :

Pour le Turtlebot

Via Arduino IDE ou DynamixelWizard en s'inspirant de : https://emanual.robotis.com/docs/en/platform/turtlebot3/faq/#setup-dynamixels-for-turtlebot3

Test depuis un PC sans la raspberry

Téléopération du OpenManipulator-X seul

Suivre le tutoriel Foxy en remplaçant foxy par humble et foxy-devel par ros2 en utilisant l'interface de communication OpenCR : https://emanual.robotis.com/docs/en/platform/openmanipulator_x/quick_start_guide/

Pour tester le bon fonctionnement du bras et de sa pince, on connecte la carte OpenCR directement à un PC ayant ROS Humble préinstallé :

sudo apt install ros-humble-rqt* ros-humble-joint-state-publisher
mkdir -p ~/openmanipulator_ws/src/
cd ~/openmanipulator_ws/src/
git clone -b ros2 https://github.com/ROBOTIS-GIT/DynamixelSDK.git
git clone -b ros2 https://github.com/ROBOTIS-GIT/dynamixel-workbench.git
git clone -b ros2 https://github.com/ROBOTIS-GIT/open_manipulator.git
git clone -b ros2 https://github.com/ROBOTIS-GIT/open_manipulator_msgs.git
git clone -b ros2 https://github.com/ROBOTIS-GIT/open_manipulator_dependencies.git
git clone -b ros2 https://github.com/ROBOTIS-GIT/robotis_manipulator.git
cd ~/openmanipulator_ws && colcon build --symlink-install

image.png

Programmation hors-ligne du OpenManipulator-X et TurtleBot3 depuis MoveIt

On suit le tutoriel https://emanual.robotis.com/docs/en/platform/turtlebot3/manipulation/#operate-the-actual-openmanipulator en installant tout ce qui est censé être installé sur le raspberry [SBC]/[TurtleBot3] sur le PC [Remote PC].

sudo apt install ros-humble-dynamixel-sdk ros-humble-ros2-control ros-humble-ros2-controllers ros-humble-gripper-controllers ros-humble-moveit
cd ~/turtlebot3_ws/src/
git clone -b humble-devel https://github.com/ROBOTIS-GIT/turtlebot3_manipulation.git
cd ~/turtlebot3_ws && colcon build --symlink-install
export ROS_DOMAIN_ID=30 #TURTLEBOT3
export LDS_MODEL=LDS-02
export TURTLEBOT3_MODEL=waffle_pi
export OPENCR_PORT=/dev/ttyACM0
export OPENCR_MODEL=turtlebot3_manipulation
rm -rf ./opencr_update.tar.bz2
wget https://github.com/ROBOTIS-GIT/OpenCR-Binaries/raw/master/turtlebot3/ROS2/latest/opencr_update.tar.bz2
tar -xvf opencr_update.tar.bz2
cd ./opencr_update
./update.sh $OPENCR_PORT $OPENCR_MODEL.opencr

Configuration OpenCR

Pour le Turtlebot : https://emanual.robotis.com/docs/en/platform/turtlebot3/opencr_setup/#opencr-setup

Pour l'OpenManipulator-X : https://emanual.robotis.com/docs/en/platform/turtlebot3/manipulation/#opencr-setup

Dépendances manquantes :

sudo apt install ros-humble-hardware-interface
ros-humble-ros2-control ?
ros-humble-joint-state-publisher ?

Dépendances manquantes côté Raspberry : 

sudo apt install rros-humble-gripper-controllers ros-humble-xacro

Dépendances manquantes côté PC : 

sudo apt install ros-humble-moveit-servo

Issues :

https://forum.robotis.com/t/ros-2-foxy-openxmanuipaltor-bringup-issues/2142/9

https://github.com/ROBOTIS-GIT/open_manipulator/issues/212

https://github.com/ROBOTIS-GIT/open_manipulator/issues/209

https://www.classes.cs.uchicago.edu/archive/2022/fall/20600-1/turtlebot_assembly_setup.html#arm-first-time

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Auteur: Gauthier Hentz, sur le wiki de l'innovation de l'IUT de Haguenau

 Attribution-NonCommercial-PartageMemeConditions 4.0 International (CC BY-NC-SA 4.0)