Ros2Bot is a personnel Robot Kit based on open source platform for Developing Highly capable application like mobile robots through its vision system and mobile base which is empowered by single board compuer.
##1. Quick Guide
Before using ROS2BOT, you must configure ROS network.
In the host computer add ROS network to your bashrc, in ./bashrc add these lines
```
> echo export ROS_HOSTNAME=IP_OF_HOST_PC
> echo export ROS_MASTER_URI=http://IP_OF_ROS2BOT:11311
```
In the ROS2BOT, add ROS network to its bashrc.
Ubuntu@ubuntu-Tegra$ sudo gedit ~/.bashrc
Add these lines in bashrc
> echo export ROS_HOSTNAME=IP_OF_ROS2BOT
> echo export ROS_MASTER_URI=http://IP_OF_ROS2BOT:11311
Now turn ON ROS2BOT and connect to it from your host computer
ssh [email protected]
Open the terminal, connect to ROS2BOT from your host PC
HOST@HOST-PC$ ssh [email protected]
Ubuntu@ubuntu-Tegra$ roslaunch turtlebot_bringup minimal.launch
In another terminaL :
HOST@HOST-PC$ ssh [email protected]
Ubuntu@ubuntu-Tegra$ roslaunch turtlebot_teleop keyboard_teleop.launch
Open the terminal, connect to ROS2BOT from your host PC
HOST@HOST-PC$ ssh [email protected]
Ubuntu@ubuntu-Tegra$ roslaunch turtlebot_bringup minimal.launch
In another terminaL :
HOST@HOST-PC$ ssh [email protected]
Ubuntu@ubuntu-Tegra$ roslaunch turtlebot_navigation gmapping_kinect2.launch
FOR rviz, Open in the host computer HOST@HOST-PC$ rviz
##2 SBC SETUP
Jetson TK1 is used as single board computer. The board configurations are following
2.3 GHz , quad core processor
2 GB ram
16 GB inbuilt memory
#####2.1 OS installation Jetson TK1 board comes with Tegra-Linux-R19.3. I have encountered several problems using this version especially desktop management and login loop problem. Hence chosen Tegra-Linux-R21.3 version. Follow these steps in host computer
#####2.1.1 Before you Begin
-
You have a Jetson TK1 Tegra Developer Kit equipped with the NVIDIA Tegra K1 processor.
-
You have a host machine that is running Linux.
-
Your developer system is cabled as follows:
-> Serial cable plugged into the serial port J1A2 UART4 on the target connected to your Linux host directly or through a serial-to-USB converter. (To setup serial console on the Linux host.) -> USB Micro-B cable connecting Jetson TK1 (J1E1 USB0) to your Linux host for flashing. -> A USB hub should be connected to the USB port (J1C2 USB2) on the Jetson TK1 system. -> An HDMI cable plugged into "J1C1 HDMI1" on the target which is connected to an external HDMI display. -> An Ethernet cable plugged into the J1D1 on board Ethernet port.
#####2.1.2 Get Jetson packages
-Download Jetson packages in your host computer from the following
$ cd
$ wget http://developer.download.nvidia.com/embedded/L4T/r21_Release_v3.0/Tegra124_Linux_R21.3.0_armhf.tbz2
$ wget http://developer.download.nvidia.com/embedded/L4T/r21_Release_v3.0/Tegra_Linux_Sample-Root-Filesystem_R21.3.0_armhf.tbz2
#####2.1.3 Extracting Jetson packages After downloading the files, to extract them follow these instrucitons (in the host computer). In the terminal,
$ tar -xvf Tegra124_Linux_R21.3.0_armhf.tbz2
$ cd Linux_for_Tegra/rootfs
$ sudo tar xpf ../../Tegra_Linux_Sample-Root-Filesystem_R21.3.0_armhf.tbz2
$ cd ..
$.sudo ./apply_binaries.sh
#####2.1.4 Flash OS to Jetson board
Now flash the os into the Jetson board by connecting the board to host computer in recovery mode.(connect the usb cable and now press the reset button by holding recovery button on jetson board).
$ sudo ./flash.sh jetson-tk1 mmcblk0p1
reboot the jetson board
-Now you will see ubuntu environment in the jetson system.
#####2.2 Kernal installation steps(Follow these steps in jetson board) #####2.2.1 Download following files $ wget http://www.jarzebski.pl/files/jetsontk1/grinch-21.3.4/zImage $ wget http://www.jarzebski.pl/files/jetsontk1/grinch-21.3.4/jetson-tk1-grinch-21.3.4-modules.tar.bz2 $ wget http://www.jarzebski.pl/files/jetsontk1/grinch-21.3.4/jetson-tk1-grinch-21.3.4-firmware.tar.bz2
#####2.2.2 Check for the avialability of files, to do so follow these instructions in the terminal $ md5sum zImage a4a4ea10f2fe74fbb6b10eb2a3ad5409 zImage $ md5sum jetson-tk1-grinch-21.3.4-modules.tar.bz2 3f84d425a13930af681cc463ad4cf3e6 jetson-tk1-grinch-21.3.4-modules.tar.bz2 $ md5sum jetson-tk1-grinch-21.3.4-firmware.tar.bz2 f80d37ca6ae31d03e86707ce0943eb7f jetson-tk1-grinch-21.3.4-firmware.tar.bz2
#####2.2.3 Now update the kernal $ sudo tar -C /lib/modules -vxjf jetson-tk1-grinch-21.3.4-modules.tar.bz2 $ sudo apt-get install linux-firmware $ sudo cp zImage /boot/zImage
Reboot the system
Now check the kernal by connecting turtlebot usb and see whether u can find USB0 (sudo chmod 0777 /dev/ttyUSB0). If so you are successfully finished the KERNEL installation.
Now jetson board has been configured with ubuntu environment
#####2.3 CUDA Installation
To install CUDA on Jetson TK1 - L4T System Download cuda kit from the here
Execute the following commands in the terminal:
$ cd /path to cuda package
$ sudo dpkg -i cuda-repo-<distro>_<version>_<architecture>.deb
$ sudo apt-get update
$ sudo apt-get install cuda-toolkit-6-5
####3.1 Installation Steps Turn on all the servers in software and updates under ubuntu software tab. Check all under updates tab in software and updates
http://wiki.ros.org/NvidiaJetsonTK1
-Set your Locale
$ sudo update-locale LANG=C LANGUAGE=C LC_ALL=C LC_MESSAGES=POSIX
-Setup your sources.list
$ sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu trusty main" > /etc/apt/sources.list.d/ros-latest.list'
-Set up your keys
$wget https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -O - | sudo apt-key add -
-
Installation
$ sudo apt-get update
$ sudo apt-get install ros-indigo-ros-base
-
Initialize rosdep
$ sudo apt-get install python-rosdep
$ sudo rosdep init
$ rosdep update
-
Environment setup
$ echo "source /opt/ros/indigo/setup.bash" >> ~/.bashrc
$ source ~/.bashrc
-
Getting rosinstall
$ sudo apt-get install python-rosinstall
-
To avoid rviz segfault, in ~/.bashrc:
unset GTK_IM_MODULE
-
Let's create a catkin workspace:
$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws/src
$ catkin_init_workspace
Even though the workspace is empty (there are no packages in the 'src' folder, just a single CMakeLists.txt link) you can still "build" the workspace:
$ cd ~/catkin_ws/
$ catkin_make
change the environment to catkin_Ws/devel/setup.bash in ~/.bashrc
#####3.2 Turtlebot installation
$ sudo apt-get install ros-indigo-turtlebot ros-indigo-turtlebot-apps ros-indigo-turtlebot-interactions ros-indigo-kobuki-ftdi ros-indigo-rocon-remocon ros-indigo-rocon-qt-library ros-indigo-ar-track-alvar-msgs
-
Change from create to kobuki in minimal.launch at turtlebot_bringup/launch
-
add "export TURTLEBOT_BASE = kobuki" in bashrc
-
$ rosrun kobuki_ftdi create_dev_rules
-
add "export TURTLEBOT_3D_SENSOR = kinect2" in bashrc
##4. kinect2 installation
####4.1 Installing cuda based libfreenect2 in home folder
$ git clone https://github.com/GaiTech-Robotics/libfreenect2
$ sudo apt-get install -y build-essential libturbojpeg libtool autoconf libudev-dev cmake mesa-common-dev freeglut3-dev libxrandr-dev doxygen libxi-dev libjpeg-turbo8-dev
$ cd libfreenect2/depends
$ sh install_ubuntu.sh
$ sudo ln -s /usr/lib/arm-linux-gnueabihf/libturbojpeg.so.0.0.0 /usr/lib/arm-linux-gnueabihf/libturbojpeg.so
$ cd ../examples/protonect/
$ mkdir build && cd build
$ cmake ..
$ make
$ sudo make install
####4.2 Installing libfreenect2 in Download folder $ cd Downloads/
$ git clone https://github.com/OpenKinect/libfreenect2.git
$ sudo apt-get install build-essential cmake pkg-config libturbojpeg libjpeg-turbo8-dev mesa-common-dev freeglut3-dev libxrandr-dev libxi-dev
$ cd libfreenect2/depends
$ sh install_ubuntu.sh
$ sh install_libusb.sh
$ cd ../
$ mkdir build && cd build
$ cmake ..
$ make
$ sudo make install
####4.3 Install kinect2 bridge
$ cd ~/catkin_ws/src/
$ git clone https://github.com/code-iai/iai_kinect2.git
$ cd iai_kinect2
$ rosdep install -r --from-paths .
$ cd ~/catkin_ws
$ catkin_make -DCMAKE_BUILD_TYPE="Release"
-
USB 3.0 must be enabled for full performance. Edit /boot/extlinux/extlinux.conf to change usb_port_owner_info=0 to usb_port_owner_info=2 to enable USB 3.0.
$ sudo -s
sudo gedit /boot/extlinux/extlinux.conf -
Now change "usb_port_owner_info=0" to "usb_port_owner_info=2"
-You must have read and write permissions on the USB devices of Kinect 2.
- lsusb to find out the bus id and device id of Kinect 2 (there should be 3 devices).
- ls -l /dev/bus/usb/$BUS_ID/$DEVICE_ID and you should have rw permissions. To make it permanent, you can create a udev rule /etc/udev/rules.d/90-kinect2.rules. Add these lines in it.
ATTR{product}=="Kinect2"
SUBSYSTEM=="usb", ATTR{idVendor}=="045e", ATTR{idProduct}=="02c4", MODE="0666"
SUBSYSTEM=="usb", ATTR{idVendor}=="045e", ATTR{idProduct}=="02d8", MODE="0666"
SUBSYSTEM=="usb", ATTR{idVendor}=="045e", ATTR{idProduct}=="02d9", MODE="0666"
-Now remove the kinec2 cable, restart the system After reboot check for kinect2 inputs by typing lsusb
####rviz segmentation problem
Install ros-indigo-robot-model from package manager (which installs geometry dependensies too) then follow these steps $ sudo apt-get remove ros-indigo-robot-model
$ cd ~/catkin_ws/src
$ git clone https://github.com/ros/robot_model.git
$ cd ~/catkin_ws
$ catkin_make
$ source devel/setup.bash
##replace these following files TODO
in hostmachine , kinect2 glfw problem sovled after changing depth_method from opengl to cpu