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setup-2nd-computer.md

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Setup Raspberry Pi 3B+ as robot onboard computer

  • Install Ubuntu-server 20.04 LTS

  • Set name to 'robot'

  • Install ros-base

  • Go through tutorial Running ROS across multiple machines

    • Install ros-tutorials on robot: $ sudo apt-get install ros-noetic-ros-tutorials
    • Add each other's host name in /etc/hosts file

  • Edit ~/.bashrc to source ~/catkin_ws/devel/setup.bash

  • Add rplidar package

  • Set up passwordless ssh login to robot, following the steps at How to setup SSH login without password on Linux systems.

  • Install rosserial sudo apt install ros-noetic-rosserial

  • Download & Install pigpio

  • Install python mathutils library pip install mathutils (used to normalize quaternion)

  • Install robot_pose_ekf sudo apt install ros-noetic-robot-pose-ekf

  • Install gmapping and navigation

    • sudo apt install ros-noetic-gmapping
    • sudo apt install ros-noetic-navigation

  • Install udev rules to correctly identify USB ports on which IMU and Laser are connected

$ roscd ros_imu_bno055
$ sudo cp utils/99-bno055.rules /etc/udev/rules.d
$ sudo udevadm control --reload-rules && sudo udevadm trigger

Here is file 99-bno055.rules

# Udev rule for Serial to USB converter with FTID FT232R chip for communication 
# with IMU BNO055
#
# Check dev info: udevadm info -a -p  $(udevadm info -q path -n /dev/ttyUSB0)
# Reload udev: sudo udevadm control --reload-rules & udevadm trigger
#

ACTION=="add", ATTRS{product}=="FT232R USB UART", ATTRS{manufacturer}=="FTDI", SYMLINK+="ttyUSB_IMU"
  • Then do the same with the RPLidar. Here is file 99-rplidar.rules
# Udev rule for Serial to USB converter for communication with RPLidar
#
# Check dev info: udevadm info -a -p  $(udevadm info -q path -n /dev/ttyUSB1)
# Reload udev: sudo udevadm control --reload-rules & udevadm trigger
#

ACTION=="add", ATTRS{product}=="CP2102 USB to UART Bridge Controller", ATTRS{manufacturer}=="Silicon Labs", SYMLINK+="ttyUSB_LIDAR"

After rebooting, both symlinks were in place, but I wasn't able to see any laser scan data.

ubuntu@robot:~/catkin_ws/src/my_robot/bringup/launch$ ls -al /dev | grep ttyUSB
crw-rw----  1 root dialout 188,   1 Nov 19 13:51 ttyUSB1
crw-rw----  1 root dialout 188,   2 Nov 19 13:44 ttyUSB2
lrwxrwxrwx  1 root root           7 Sep  7 18:37 ttyUSB_IMU -> ttyUSB1
lrwxrwxrwx  1 root root           7 Nov 19 13:44 ttyUSB_LIDAR -> ttyUSB2

Subsequently, I rebooted robot with the rplidar unplugged at first. I then plugged it in and got ttyUSB_LIDAR -> ttyUSB0. This time the laser data was visible in RVIZ.

ubuntu@robot:~/catkin_ws/src/my_robot/rplidar_ros/launch$ ls -al /dev | grep ttyUSB
crw-rw----  1 root dialout 188,   0 Nov 19 14:06 ttyUSB0
crw-rw----  1 root dialout 188,   1 Nov 19 14:07 ttyUSB1
lrwxrwxrwx  1 root root           7 Sep  7 18:37 ttyUSB_IMU -> ttyUSB1
lrwxrwxrwx  1 root root           7 Nov 19 14:01 ttyUSB_LIDAR -> ttyUSB0