README.md · HuJiawu/car

# car

## introduce

This is a mobile manipulator project based on ROS2, which basically covers the common functions of ROS2. Since my hardware design ability has been returned to the university teacher, the hardware platform is mainly based on the machinery and circuit board of Yaboom Intelligence. The software is using ubuntu 22.04 and ROS humble.

This project does not include simulation. The simulation platforms of ROS2 include ignition, webot, and gazebo, and in actual use, it has been found that gazebo is the most stable. The reason for not conducting simulation is that the modeling of the meacanum wheel is relatively complex and requires setting the rotation axis for each roller.

## Framework

### Hardware

### Software

## Install

## Control

1  start can communication.

```shell
sudo ip link set can0 down
sudo ip link set can0 type can bitrate 500000 restart-ms 100
sudo ip link set can0 up
```

2  start the hardware component and ros2-controllers.

```shell
ros2 launch yaboom_mecanum_car yaboom_mecanum_car.launch.py
```

After running this command, it will actually start the mecanum_controller of the car and the joint_trajectory_controller of the arm.

3  using keyboard to control the robot.

```shell
ros2 run teleop_twist_keyboard teleop_twist_keyboard
```

4  using ros topic to control the arm.

```shell
ros2 topic pub
```

Note: A five axis robotic arm cannot guarantee a solution for every pose. In fact, track_ik solvers mostly only guarantee a solution for the position.

## Navigation

### mapping

To perform SLAM mapping, you first need to open the  control node to get the /odom topic:

```shell
ros2 launch yaboom_mecanum_car yaboom_mecanum_car.launch.py
```

Then, enable the third-party ROS driver of the lidar to obtain the /scan node:

```shell
ros2 launch rplidar_ros rplidar_a1_launch.py 
```

Due to the occlusion of the robot, the angle range of the lidar can be corrected with the following commands

```shell
ros2 launch yaboom_navigation filter.launch.py
```

Using cartographer to build the map:

```shell
ros2 launch yaboom_navigation cartographer_mapping.launch.py
```

After these  steps, you can open RVIZ for visualization:

```shell
ros2 launch yaboom_mecanum_car view_robot.launch.py
```

Finally, use this command to save the map:

```shell
ros2 run nav2_map_server map_saver_cli -f map
```

you can see a map in RVIZ like this one:

![1726233419009](image/README/1726233419009.png)

### Localization

1  launch the map node:

```shell
ros2 launch yaboom_navigation launch_server.launch.py
```

2  Ensure that the lidar node and its correction node, motion control node and other basic nodes are opened ,then run amcl node:

```shell
ros2 launch yaboom_navigation launch_amcl.launch.py
```

3  Run Rviz:

```shell
ros2 launch yaboom_mecanum_car view_robot.launch.py
```

the Add ParticleCloud to RVIZ2, and subscribe to /particle_cloud topic.

Note: Check the Qos configuration of each topic carefully, otherwise RVIZ2 may not be displayed.

![1726300967522](image/README/1726300967522.png)

### Nav2

1  Ensure the "/cmd_vel" topic can be used to control the hardware.

2  You can try Nav2 by this command:

```
ros2 launch yaboom_navigation launch_navigation.launch.py
```

3  Click "Nav2 goal" to select goal pose, then the car will move to the target automatically:

![1726308054156](image/README/1726308054156.png)

HuJiawu/car

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HuJiawu/car