Jetbot-ros2

explore_lite.mp4

This is an implementation of a mobile robot in ros2. The software includes the following functionalities:

Teleoperation through websockets with live video feed using webrtc (aiortc).
Integration of Intel realsense d435 and t265 cameras for depth estimation and localization respectively.
Autonomous Navigation using Nav2
Autonomous Exploration using m-explore
2D SLAM with slam-toolbox.
3D SLAM using rtabmap.

I used the Xiaor Geek Jetbot as a base platform and modified it to include a wide-angle camera, as well as the Intel Realsense d435 and t265.

Requirements

ROS2 eloquent.
librealsense2.
Motor Drivers - In this case, installed from the jetbot's repository.

Installation

Clone this repo and its submodules.

git clone --recurse-submodules https://github.com/jdgalviss/jetbot-ros2.git

Clone additional thirdparty packages

SLAM-TOOLBOX

cd jetbot-ros2/dev_ws/src
git clone -b eloquent-devel [email protected]:stevemacenski/slam_toolbox.git

Navigation2

git clone https://github.com/ros-planning/navigation2.git --branch eloquent-devel

m-explore

git clone -b eloquent https://github.com/robo-friends/m-explore-ros2.git

BehaviorTree.CPP

git clone https://github.com/BehaviorTree/BehaviorTree.CPP.git
cd BehaviorTree.CPP
git checkout 3.5.1
cd ../..

Copy our modified files

cd thirdparty_files
source copy_files.sh
cd ../..

Teleoperation support

Install aiortc for webrtc support.

pip3 install crc32c==2.0
pip3 install aiortc==0.9.28
pip3 install aiohttp==3.6.2

Install pyfakewebcam so that camera frames can be modified inside a ROS2 node and then shared through webrtc:
```
apt-get install v4l2loopback-utils
pip3 install pyfakewebcam==0.1.0
```
Write a service that creates fake webcam devices that can be used to share camera frames.
```
gedit /etc/rc.local
```
Copy and paste in file:
```
#!/bin/sh -e
modprobe v4l2loopback devices=2 # will create two fake webcam devices
exit 0
```
Save the file and make it executable with this command:
```
chmod +x /etc/rc.local
```

SLAM Support

Install rtabmap and rtabmap_ros following these instructions in the branch ros2.

Build ros 2 workspace

cd dev_ws
rosdep install -y -r -q --from-paths src --ignore-src --rosdistro eloquent
colcon build --symlink-install

Run

Teleoperation

Run local teleoperation server.
```
python3 local_server/webcam.py
```
In a browser, open the teleoperation interface by going to: <jetson_nano's ip-address>:8080
In a new terminal, run the motion control launchfile to start streaming video and receiving motion commands.
```
ros2 launch motion_control jetbot_launch.py
```

In a new terminal, run nav2

ros2 launch nav2_bringup nav2_navigation_launch.py

SLAM

To Run SLAM.
- For 2D-SLAM, in another terminal:
```
ros2 launch realsense_ros2 realsense_launch.py
```
  In another terminal:
```
ros2 launch slam_toolbox online_async_launch.py
```
- For 3D-SLAM, in another terminal:
```
ros2 launch realsense_ros2 slam_rtabmap_launch.py
```
3D Dense SLAM is too resource consuming for the Jetson Nano, in this case it is recommended to run it on a remote host. For this, simply set the same DOMAIN_ID on both the Jetson Nano and the remote host. (e.g. export DOMAIN_ID=0) and run the cameras in the Jetson Nano:
```
ros2 launch realsense_ros2 realsense_launch.py
```
Comment the nodes corresponding to the cameras on the host and run the rtabmap launch:
```
ros2 launch realsense_ros2 slam_rtabmap_launch.py
```

Exploration

In a new terminal, run explore_lite

ros2 run explore_lite explore --ros-args -p costmap_topic:=/map -p visualize:=true -p use_sim_time:=false -p min_frontier_size:=0.4 -p planner_frequency:=0.5