pvandervelde

~/ros_ws/cratebot ➜ ros2 launch -d cratebot_ignition ignition.launch.py rviz:=false               
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.IncludeLaunchDescription'
[INFO] [launch]: All log files can be found below /home/petrik/.ros/log/2022-09-18-15-54-09-652196-ub-ros-humble-124660
[INFO] [launch]: Default logging verbosity is set to DEBUG
[DEBUG] [launch]: processing event: '<launch.events.include_launch_description.IncludeLaunchDescription object at 0x7f66be2da260>'
[DEBUG] [launch]: processing event: '<launch.events.include_launch_description.IncludeLaunchDescription object at 0x7f66be2da260>' ✓ '<launch.event_handlers.on_include_launch_description.OnIncludeLaunchDescription object at 0x7f66bedd5210>'
Executing <Task finished name='Task-2' coro=<LaunchService._process_one_event() done, defined at /opt/ros/humble/lib/python3.10/site-packages/launch/launch_service.py:228> result=None created at /opt/ros/humble/lib/python3.10/site-packages/launch/launch_service.py:318> 

pvandervelde

Create a ROS Humble VM with Ubuntu 22.04

Create a VM with the Ubuntu 22.04 installer. Make sure to connect the VM to the LAN, so that any physical robots can connect to it.

Install XRDP

sudo apt install xrdp

Ensure that xrdp is enabled and running after a reboot

pvandervelde

#!/usr/bin/env python

from math import pow, atan2, sqrt, copysign

import rospy
from geometry_msgs.msg import Twist, Pose, PoseWithCovariance
from nav_msgs.msg import Odometry
from tf.transformations import euler_from_quaternion, quaternion_from_euler

class ScuttleControl:

pvandervelde

Running SCUTTLE with ROS in the real world

In order to run a physical SCUTTLE using ROS you will need to first install all the software on a Raspberry PI. First install the Raspberry PI OS on the SD card. Make sure to configure both SSH and the wifi options so that you can connect to the Raspberry Pi once it starts up. The Raspberry Pi Imager has some advanced options that allow you to set both the SSH credentials and the Wifi options.

Once you have installed the OS image you can plug the SD card into the Raspberry Pi and power it up. When the Pi shows up on the network you can SSH in and install ROS Noetic and all the other libraries you need

pvandervelde

Running SCUTTLE in Gazebo

In order to run a virtual SCUTTLE in Gazebo you will first need to install ROS Noetic on Ubuntu 20.04. This can be a physical machine, e.g. a spare laptop or a VM. If you're building a VM you can follow these instructions to get a VM with ROS noetic installed. In all cases you want to make sure you have at least the following ROS packages (and their dependencies) installed.

• ros-noetic-desktop-full
• ros-noetic-catkin
• ros-noetic-navigation

pvandervelde

Create a ROS Galactic VM with Ubuntu 20.04

Create a VM with the Ubuntu 20.04 installer. Make sure to connect the VM to the LAN, so that any physical robots can connect to it.

Install XRDP

sudo apt install xrdp

Ensure that xrdp is enabled and running after a reboot

pvandervelde

Create a ROS Noetic VM with Ubuntu 20.04

Create a VM with the Ubuntu 20.04 installer. Make sure to connect the VM to the LAN, so that any physical robots can connect to it.

Install XRDP

sudo apt install xrdp

Ensure that xrdp is enabled and running after a reboot

pvandervelde

Ros on Raspberry Pi 4 - OS

Install git

sudo apt-get install git

Install zsh

NOTE: Picked zsh because it has better highlighting and completion, but also catkin generates zsh scripts.

pvandervelde

#cloud-config
write_files:
- content: |
    {
      "retry_join": [
        "provider=azure subscription_id=${subscription} tag_name=consul_server_id tag_value=${environment_id}"
      ]
    }
  path: /etc/consul/conf.d/consul_server_location.json

pvandervelde

Keybase proof

I hereby claim:

• I am pvandervelde on github.
• I am pvandervelde (https://keybase.io/pvandervelde) on keybase.
• I have a public key ASCZkniIQws2uJme4BYFQrf8Cy-Muo1yy86GVLaDKLivSwo

To claim this, I am signing this object: