Help with real robot #27
Replies: 104 comments 273 replies
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A1M8 and L298 are fine. |
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L298 |
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Take some picture of your wiring. esp32 power from usb of rpi. MPU6050 power from VOUT 5V of esp32. L298 uses on-board 5V jumper plug. You will need a 3.3V regulator (LM1117 etc) for encoder ,from L298 5V output. |
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yeah, I sovled the problem comunicate SBC with ubuntu laptop linorobot/linorobot2#2 (comment) now, I need to do some works with my Jeston nano devkit, (i have never used it before) |
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esp32 i/o pins assignment |
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2WD unused pwm 13 12 4 23 encoder 32 27 26 25 pins leave unconnected. You need 33K and 10k for battery voltage sensor. It is important to debug motor issue. |
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laptop --wifi -- rpi --usb-- A1M8 and esp32 |
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Jetson nano SDK uses ubuntu 18.04 You can try community image, |
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https://forums.developer.nvidia.com/t/ubuntu-22-04-image-beta-test-for-jetson-nano/253301 this image is not secure. It's just beta and some people say it has many problems (in the comments of this link) instead, chatGPT says I can install Ubuntu 20.04 on Jetson, then use LXD to create a container of Ubuntu 22.04 with ROS-humble or Ubuntu 24 with ROS-jazzy, right? |
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i forgot, i still need the official supported version for the jetson nano devkit for image processing |
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Is this possible? good evening @hippo5329 |
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You can try docker on jetson nono. |
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"Docker is included in JetPack, so running containers on Jetson is easy and does not require any installation. " https://developer.nvidia.com/embedded/learn/tutorials/jetson-container |
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oh, docker also new for me ... 🥇 |
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https://github.com/Qengineering/Jetson-Nano-image https://github.com/jetsonhacks/bootFromUSB https:
F438
//github.com/Qengineering/Jetson-Nano-Ubuntu-20-image https://kalanaratnayake.medium.com/reviving-jetson-nano-with-ubuntu-20-04-2dc1f82b18f4 |
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You can use either docker or lxd. docker is is easier to share and more popular. There are official ros2 docker images. https://roboticseabass.com/2023/07/09/updated-guide-docker-and-ros2/ https://docs.ros.org/en/jazzy/How-To-Guides/Run-2-nodes-in-single-or-separate-docker-containers.html https://docs.ros.org/en/iron/How-To-Guides/Setup-ROS-2-with-VSCode-and-Docker-Container.html https://github.com/DominikN/ros2_docker_examples https://divyanshu-raj.medium.com/ros-2-with-docker-part-1-9060f3095811 I use lxd heavily for many years. https://documentation.ubuntu.com/lxd/en/latest/tutorial/first_steps/ |
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thank you! 💯 all the links are helpful for me. 👍 |
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You should update to Jazzy. Most humble example code will work. |
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It's late. G9. See you. |
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alright!~ @hippo5329 I've done with ROS2-humble on my Jetson nano devkit and test simple I also have learned a lot of command lines with Docker and now I realize that I just need to: 😸 I'll wiring up everything together, and then |
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I also bought an ESP32 and ASM1117 regulator to 3.3V for encoder.
Ps: It has 130rpm max, And 11 pulses encoder, gearbox-ratio 45:1 So number of pulses after gearbox with quadrature encoder x4 will be : 11x45x4 = 1980 ppr
-> regulator 5V for JetsonNano
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now, without Raspi, use Jetson instead, so esp32 will do with base-controller and Jetson like a PC, I think it's same with your robot now, right? |
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11x45 = 495 |
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andino looks good. |
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yeah, right. Okay, time to go to bed. so, see you. |
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I updated the .env so that you may use it without modification. Please git pull and check if the update works and let me know. Thanks. |
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@hippo5329 only the old repositories works fine. Error happen with your new update, too |
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I mean I updated the pr-lidar branch. Did you use the updated pr-lidar branch? |
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Yah, I have one SDcard using the old pr-lidar branch, I create it 2 days ago, when the first time I met that error, and It works fine #27 (reply in thread) and when you said me to try new update of pr-lidar, I use another SDcard, but it error... #27 (comment) 😃 |
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I found the bug. The sllidar driver was placed in the wrong location. Please remove the old one and try again. |
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hey @hippo5329 Btw, I built a bigger robot, can you see it? how do you feel about it? give me some feedback, pls 😄 In fact:
Thank you so much 🥇 here is some modify I do with navigation.yaml file, in inflation_layer:
plugin: "nav2_costmap_2d::InflationLayer"
enabled: true
inflation_radius: 0.2
cost_scaling_factor: 1.0
inflate_unknown: false
inflate_around_unknown: true
.......
velocity_smoother:
ros__parameters:
smoothing_frequency: 15.0
scale_velocities: False
feedback: "OPEN_LOOP"
max_velocity: [0.4, 0.0, 1.5]
min_velocity: [-0.4, 0.0, -1.5]
max_accel: [1.5, 0.0, 2]
max_decel: [-1.5, 0.0, -2]
odom_topic: "odom"
odom_duration: 0.15
deadband_velocity: [0.3, 0.0, 0.3]
velocity_timeout: 1.0here is some images:
longer map and video screencast show how error yah, this is the status I've said: >>> robot size, and actual aisle width, size of one tile is 60x60cm: lidar: video test: https://drive.google.com/file/d/1YncA7u_QpoGYs00BNfugGQNb18hVE180/view?usp=sharing |
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Nice build. It will be very helpful if you add the battery voltage sensor for this large robot Please run test_acc. It is important to know the spped and acc limits. |
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Yah, actually, I did it and have reports test_vel test_acc |
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The motor is Planet PG36-555126000 12V 320RPM, 30W, it mean 12V, 6000rpm before gear-box -> gear box 19.2 -> 320rpm after gear box. Then, I add a ladder motor belt, scale 2:1 to reduce 1/2 rpm, so, the max_vel of wheel is 160rpm |
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You should tie the hanging cables to reduce interference with the lidar. |
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The speed calculation must be based on the wheels. If you added belts to reduce speed, you have to adjust the pulse counters accordingly. You should double the pulse count in robot config.h. |
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oh, I forgot it 😸 I'll retest it soon |
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you're right, how stupid I am, haha about the jerky of engine. It doesnot help. hmmm 🤫 |
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@hippo5329 set cmd_vel more slow, test mapping is okay. https://drive.google.com/drive/folders/1xuR_qlWQsMptmRAGigfGJjgmVdhYUGOT?usp=sharing So, 1. is fine now |
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your mean is my Jetson nano? I have a module regulator 5V (real is 5.9V) https://www.thegioiic.com/wh-468-mach-on-ap-5v-5a |
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yah, okay, i will pay more attention to voltage next time i test. It very helpful for me. 😸 |
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Your 5V power module is not adjustable. Take pictures of the wire connection of them. |
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haha it just like: module output ------direct connect to----> Jetson |
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yah, but it quite good, stable operation. and has 5A output btw, I also have another module that ajustable like https://nshopvn.com/product/module-on-ap-buck-boost-xy-sjv-4/ but Jetson require 5V-4A |
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do 5.9V output enough? how is your mean? |
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It should not be 5.9V. Please check with a multi-meter. Do you use the DC barrel jack to the jetson? |
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5.7V |
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yah, and it still 5.7V |
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@hippo5329 5V-5A output (real is 5.30V) Is it too high? |
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5.3V might be fine. |
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sorry, i mean 5.07V in last comment 😄 |
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5.3V might work better than 5.07V. |
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okey, I understand |
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why ```scan_filtered" does not show up in "ros2 topic list, I have add RUN apt-get update && apt-get install -y \
ros-humble-laser-filtersinto Dockerfile create this in linorobot_bringup/launch.py from launch import LaunchDescription
from launch_ros.actions import Node
from launch.substitutions import PathJoinSubstitution
from launch_ros.substitutions import FindPackageShare
def generate_launch_description():
return LaunchDescription([
Node(
package='laser_filters',
executable='scan_to_scan_filter_chain',
name='laser_filter_node',
output='screen',
parameters=[
PathJoinSubstitution([
FindPackageShare('linorobot2_bringup'),
'config',
'scan_filter_chain.yaml'
])
],
remappings=[
('scan', '/scan'),
('scan_filtered', '/scan_filtered')
]
)
])create: scan_to_scan_filter_chain:
ros__parameters:
# Box filter to remove robot body points
filter1:
name: box_filter
type: laser_filters/LaserScanBoxFilter
params:
box_frame: base_laser
# Since laser is at x=0.18m from center, and base is 0.4m long
max_x: 0.02 # Small positive value to catch any noise
min_x: -0.22 # -(0.4/2 - 0.18) to cover from laser to back of robot
# Base is 0.44m wide, so ±0.22m from center
max_y: 0.24 # Slightly larger than half width to ensure coverage
min_y: -0.24 # Slightly larger than half width to ensure coverage
# Z values to cover the robot's height plus some margin
max_z: 0.15 # Slightly above robot height
min_z: -0.15 # Below robot to catch any reflections
invert: true # Remove points inside the box (where robot body is)
# Angular filter to keep only front, left, and right scans
filter2:
name: angle_filter
type: laser_filters/LaserScanAngularBoundsFilterInPlace
params:
lower_angle: -1.57 # -90 degrees (left side)
upper_angle: 1.57 # +90 degrees (right side)then but /scan_filtered doesnot show up in "ros2_topic_list" hmmm |
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In docker, the extra launch is enabled with .env LAUNCH_EXTRA=true The params file is https://github.com/linorobot/linorobot2/blob/humble/linorobot2_bringup/config/box_laser_filter.yaml You need to modify https://github.com/linorobot/linorobot2/blob/humble/linorobot2_bringup/launch/extra.launch.py for the lidar driver and topics. |
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yah, I see... and I changed it to "a1" and "tty/USB0" but it still does not work |
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I added box laser filter to rolling branch, please try out. https://github.com/hippo5329/linorobot2_hardware/wiki#laser-filter |
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yah I'm rebuilding |
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@hippo5329 |
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I need more test with it, will respond to you soon 😃 |
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but I think we should limit scan_angle instead of limit length of box, I've just had a small test, its limit so weird, I will test more |
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I forced updated the rolling branch to use angular bound laser filter. Please check wiki update. |
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Yah thank you now, |
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@hippo5329
but the rviz doesn't show up robot. |
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Hi @hippo5329, see your robot tank very interesting.
now, I don't have a LD19 lidar and Driver for Robots like you, I have an A1M8, and L298. Should I buy a new Driver? (In that case, I must order from abroad. yeah It'll take a long time 😄 )
here is a sample I'm doing with
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