RAE ROS

Setting up procedure

SSH

1. Connect via USB cable or wifi rae-<ID>, password wifiwifi@ (See rae getting started documentation).
2. To use SHH without typing password each time - ssh-copy-id root@192.168.11.1. Also a easier solution for USB devices, can append to ~/.ssh/config the following, entering just with ssh ku:

1Host ku 192.168.197.55
2  HostName 192.168.197.55
3  User root
4  StrictHostKeyChecking no
5  UserKnownHostsFile /dev/null

1. Currently date resets after each startup to set current - ssh root@192.168.11.1 sudo date -s @( date -u +"%s" )
2. If you want to run ROS packages while bypassing Luxonis Hub it would be advised to stop RH agent before starting docker containers, otherwise you can easily run into conflicts as they would be competing for same hardware resources - robothub-ctl stop. Keep in mind that since wpa_supplicant is a subproccess of the RH agent, the WiFi connection will get killed along with the agent. To resolve this we recommend you manually setup the WiFi connection as done in this guide.

Generating docker image

1. Clone repository git clone git@github.com:luxonis/rae-ros.git
2. Build docker image cd rae && docker buildx build --platform arm64 --build-arg USE_RVIZ=0 --build-arg SIM=0 --build-arg ROS_DISTRO=humble --build-arg CORE_NUM=10 -f Dockerfile --squash -t <docker-image-name>:<tag> --load . You need to install necessary tools along buildx sudo docker run --rm --privileged multiarch/qemu-user-static --reset -p yes
3. Upload docker image to robot. Connect robot to your PC via USB so you can transfer image quicker. Note that currently space on the robot is limited, so you need to have 7-8 GB of free space in /data directory - docker save <docker-image-name>:<tag> | ssh -C root@192.168.197.55 docker load
4. SSH into robot and run docker image or just skip all first 3 steps and run the second:
   • docker run -it --restart=unless-stopped -v /dev/:/dev/ -v /sys/:/sys/ --privileged --net=host <docker-image-name>:<tag>
   • docker run -it -v /dev/:/dev/ -v /sys/:/sys/ --privileged -e DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix -v /dev/bus/usb:/dev/bus/usb --device-cgroup-rule='c 189:* rmw' --network host <docker-image-name>:<tag>
5. Search for docker container name with docker ps
6. Attach to the shell - docker attach <container_name>, or if you want to create separate session docker exec -it <container_name> zsh
7. To launch robot hardware - ros2 launch rae_bringup robot.launch.py. This launches:
   • Motor drivers and differential controller
   • Camera driver, currently set up to provide Depth and streams from left & right camera. Note here that you have to calibrate cameras (see steps below). Currently a default calibration file is loaded. It's located in rae_camera/config/cal.json. To use one on the device or from other path, change i_external_calibration_path parameter in rae_camera/config/camera.yaml
   • Depth image -> LaserScan conversion node used for SLAM
8. Launching whole stack - ros2 launch rae_bringup bringup.launch.py. It has following arguments used for enabling parts of the stack:
   • enable_slam_toolbox (true)
   • enable_rosbridge (false)
   • enable_rtabmap (false)
   • enable_nav (false) Example launch with an argument - ros2 launch rae_bringup bringup.launch.py enable_nav:=false

Developing on docker

1RegisterEventHandler(
2            OnProcessStart(
3                target_action=perception,
4                on_start=[
5                    TimerAction(
6                        period=15.0,
7                        actions=[reset_pwm, LogInfo(msg='Resetting PWM.'),],
8                    )
9                ]
10            )
11        ),

1. Open rae-ros workspace in vscode
2. Create .devcontainer directory in the workspace
3. In it, create devcontainer.json
4. You'll need to add Remote containers extension to VScode if you didn't already
5. After that, a window should pop out that will ask if you want to reopen the directory in container, select yes If nothing pops up, CTRL+SHIFT+P , select option Rebuild and reopen

1// See https://aka.ms/vscode-remote/devcontainer.json for format details.
2{
3	"dockerFile": "../src/rae-ros/Dockerfile",
4	"build": {
5		"args": {
6			"USE_RVIZ": "1",
7			"SIM": "1",
8			"CORE_NUM": "10",
9			"--ssh": "default=$HOME/.ssh/id_rsa.pub ."
10		}
11	},
12	"remoteUser": "root",
13	"runArgs": [
14		"--device=/dev/ttyUSB0",
15		"--privileged",
16		"--network=host",
17		"--cap-add=SYS_PTRACE",
18		"--security-opt=seccomp:unconfined",
19		"--security-opt=apparmor:unconfined",
20		"--volume=/dev:/dev",
21		"--volume=/tmp/.X11-unix:/tmp/.X11-unix",
22        "--volume=${env:HOME}/.ssh:/${HOME}/.ssh",
23		// "--gpus=all"
24	],
25	"containerEnv": {
26		"DISPLAY": "${localEnv:DISPLAY}",
27		"QT_X11_NO_MITSHM": "1",
28		// "LIBGL_ALWAYS_SOFTWARE": "1" // Needed for software rendering of opengl 
29	},
30	// Set *default* container specific settings.json values on container create.
31	"settings": {
32		"terminal.integrated.profiles.linux": {
33			"zsh": {
34				"path": "zsh"
35			},
36			"bash": {
37				"path": "bash"
38			}
39		},
40		"terminal.integrated.defaultProfile.linux": "zsh"
41	},
42	"extensions": [
43		"dotjoshjohnson.xml",
44		"ms-azuretools.vscode-docker",
45		"ms-iot.vscode-ros",
46		"ms-python.python",
47		"ms-vscode.cpptools",
48		"redhat.vscode-yaml",
49		"smilerobotics.urdf",
50		"streetsidesoftware.code-spell-checker",
51		"twxs.cmake",
52		"yzhang.markdown-all-in-one",
53		"augustocdias.tasks-shell-input",
54		"eamodio.gitlens"
55	]
56}

Calibration

1robothub-ctl stop

1git clone --branch rvc3_calibration https://github.com/luxonis/depthai.git
2cd depthai/
3python3 install_requirements.py
4# To calibrate rae's front cameras - for back cameras we would change the board name to "RAE-D-E"
5python3 calibrate.py -s <size>  -brd RAE-A-B-C -cd 1 -c 3

1. Try to fill stereo pairs matrices (color camera preview can be out of FOV, but not the Stereo pairs)
2. Put charuco on a flat surface (bigger board it will be better)
3. When you take a frame is a better practice to freeze board (motion are not ok)

Configuration:

Feature Tracker

Setting Camera and IMU parameters

Robot Localization

Sensors and sockets

Peripherals:

• LCD node - accepts BGR8 image (best if already resized to 160x80px) on /lcd Image topic
• LED node - Subscribes to /led topic, message type is LEDControl (refer to rae_msgs/msg/LEDControl)
• Mic node - Publishes audio_msgs/msg/Audio (from gst_bridge package) on /audio_in, configuration is S32_LE, 48kHz, 2 channel interleaved
• Speakers node - Subscibes to audio_out to same type as Mic node, configuration is S16_LE, 41kHz, 2 channel interleaved

Testing motors

1. To find out if encoder is working accurately, execute ros2 run rae_hw test_encoders and rotate the wheel by 360 degrees. After rotation, encoder readout should be ~2PI. If not, adjust encoder tick per rev parameter. Scipt arguments - [encRatioL encRatioR]. Full arg version ros2 run rae_hw test_encoders 756 756
2. Finding out max speed - ros2 run rae_hw test_max_speed. Script arguments [duration encRatioL encRatioR]. Full arg version ros2 run rae_hw test_max_speed 1.0 756 756
3. Motor verification - ros2 run rae_hw test_motors. Script arguments [duration speedL speedR encRatioL encRatioR maxVelL maxVelR]. Full arg version ros2 run rae_hw test_motors 5.0 16.0 16.0 756 756 32 32

• PWM pins (speed control):

1<param name="pwmL">2</param>
2<param name="pwmR">1</param>

• Phase pins (direction control)

1<param name="phL">41</param>
2<param name="phR">45</param>

• Encoder pins - each motor has A and B pins for encoders.

1<param name="enLA">42</param>
2<param name="enLB">43</param>
3<param name="enRA">46</param>
4<param name="enRB">47</param>

• How many encoder tics are there per revolution - this might vary from setup to setup. To verify that, run the controller and rotate a wheel manually. You can see current positions/velocities by listening on /joint_states topic - ros2 topic echo /joint_states.

1<param name="encTicsPerRevL">756</param>
2<param name="encTicsPerRevR">756</param>

• Max motor speed in rads/s

1<param name="maxVelL">32</param>
2<param name="maxVelR">32</param>

• Both wheels have parameters for PID control set in that file, those values could need some tuning:

1<param name="closed_loopR">1</param>
2<param name="PID_P_R">0.2</param>
3<param name="PID_I_R">0.1</param>
4<param name="PID_D_R">0.0005</param>

1. sudo apt-get install ros-humble-teleop-twist-keyboard
2. ros2 run teleop_twist_keyboard teleop_twist_keyboard

LED node

1. Control all (set control_type to 0) gives all LEDs the same color
2. Control single (control_type to 1) lets you control just a single LED light by setting single_led_n variable
3. Custom control (control_type to 2) where you send a list that defines every value of LED lights at once.

1for i in range(40):
2            led_msg.single_led_n = 0
3            led_msg.control_type = 2 
4            if i < 8:
5                color = "white"
6                led_msg.data[i]=(colors[color])
7            if i >9 and i < 14 and angular_speed > 0.0 and blinking==True:
8                color = "yellow"
9                led_msg.data[i]=(colors[color])
10            if i > 20 and i < 29 and linear_speed < 0.0:
11                color = "red"
12                led_msg.data[i]=(colors[color])
13            if i> 34 and i < 39 and angular_speed < 0.0 and blinking==True:
14                color = "yellow"
15                led_msg.data[i]=(colors[color])

1ros2 launch rae_hw peripherals.launch.py
2ros2 launch rae_hw control.launch.py
3ros2 launch rae_bringup robot.launch.py

LCD node

Microphone and speakers

1if msg.encoding == "S32LE":
2            audio_data = np.frombuffer(msg.data, dtype=np.int32)
3        elif msg.encoding == "S16LE":
4            audio_data = np.frombuffer(msg.data, dtype=np.int16)
5        if msg.layout == Audio.LAYOUT_INTERLEAVED:
6            # Deinterleave channels
7            audio_data = audio_data.reshape((msg.frames, msg.channels))

• gst-launch-1.0 --gst-plugin-path=install/gst_bridge/lib/gst_bridge/ filesrc location=sample.mp3 ! decodebin ! audioconvert ! rosaudiosink ros-topic="/audio_out"
• gst-launch-1.0 --gst-plugin-path=install/gst_bridge/lib/gst_bridge/ rosaudiosrc ros-topic="audio_out" ! audioconvert ! wavenc ! filesink location=mic1.wav
• gst-launch-1.0 --gst-plugin-path=install/gst_bridge/lib/gst_bridge/ rosimagesrc ros-topic="/rae/right_front/image_raw" ! videoconvert ! videoscale ! video/x-raw,width=160,height=80 ! fbdevsink
• gst-launch-1.0 alsasrc device="hw:0,1" ! audio/x-raw,rate=48000,format=S32LE ! audioconvert ! spectrascope ! videoconvert ! video/x-raw,width=160,height=80 ! fbdevsink

USB ports

1gpioset gpiochip0 44=1
2echo host > /sys/kernel/debug/usb/34000000.dwc3/mode

1gpioset gpiochip0 44=0
2echo device > /sys/kernel/debug/usb/34000000.dwc3/mode