MPCHoloNavigation

ROS2 Setup to perform MPC based Holonomic Navigation for Robotics: Planning and Navigation Course (EC4.403) at IIITH

• Professor: K. Madhava Krishna

Table of contents

• MPCHoloNavigation
  • Table of contents
  • Development Setup
    • Action Buttons
  • Hardware Setup
  • How to Use

Development Setup

• To pull latest docker image

  docker pull ghcr.io/soham2560/humble-garden:latest

• To start container

  • Open Command Pallete with Ctrl+Shift+P
  • Select Option to Rebuild and Reopen Container

  Action Buttons

  We use the VSCode Action Button Extension to facilitate development. They are not necessary but certainly do help. To access these buttons you may need to enable it through the Extensions Tab in VSCode, though the extension should download automatically on container startup. The available buttons are as follows:

  • Build

    Builds the workspace packages upto robot_bringup

    colcon build --symlink-install --packages-up-to robot_bringup

  • Import Libs

    Uses vcstool to import the repositories listed in dep.repos

    rm -rf /ros2_ws/src/dep_repos && mkdir -p /ros2_ws/src/dep_repos && vcs import /ros2_ws/src/dep_repos < /ros2_ws/src/dep.repos

  Note: Remember to use Import Libs on every fresh container startup (not necessary on reopen)

Hardware Setup

Information about the Hardware Setup can be found here

How to Use

• Build and Source the workspace

  It is suggested to use the Action Buttons to build, but if you're unable due to some reason, you can use the commands below

  colcon build --symlink-install --packages-up-to robot_bringup
  source install/setup.bash

  Note: Ensure you've run Import Libs atleast once (or the equivalent command)

• WiCAN Setup (⚠️ Deprecated: Look at USB2CAN below)

  sudo slcand -o -s8 -t sw -S 3000000 /dev/ttyUSB0 can0
  sudo ifconfig can0 txqueuelen 1000
  sudo ifconfig can0 up

  Note: You need to change ttyUSB0 to the WiCAN device

• To setup USB2CAN (only if working on hardware)

  NOTE: This is to be on host (NOT in container), it is a one time process and won't have to be repeated again

  cd scripts
  chmod +x usb2can_udev.sh
  ./usb2can_udev.sh

• Launch

  ros2 launch robot_bringup robot_bringup.launch.py use_rviz:=True use_slamtoolbox:=True use_nav2:=True use_sim_time:=False use_joy:=True

  Available arguments are as follows:

  Argument	Default Value	Description
  use_sim_time	False	Launch in simulation mode (True for simulation, False for hardware connection).
  namespace	"" (empty)	Namespace for the launched nodes.
  record	False	Enable recording to a rosbag.
  use_rviz	False	Launch RViz on startup.
  use_joy	False	Use joystick control.
  use_slamtoolbox	False	Launch SLAM Toolbox on startup
  use_nav2	False	Launch Nav2 on startup

Individual Launching (⚠️ Deprecated: Look at Launch Args of main launch)

• LIDAR Launch

  ros2 launch ld08_driver ld08.launch.py

• SLAM-toolbox

  ros2 launch robot_bringup online_async_launch.py

• NAV2

  ros2 launch robot_bringup navigation_launch.py

• Interact

  To interact with the drive, you can use the teleop_twist_keyboard node by launching it as follows

  ros2 run teleop_twist_keyboard teleop_twist_keyboard

  or make the arg use_joy:=True while launching when you have a Joystick Controller connected

Note: The README's in this repository are inspired by this