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WR Devkit Navigation

default workflow

This repository provides a reference setup for using Nav2 stack to do 2D navigation with the mobile robot development kit from Weston Robot.

Requirements

The following hardware configurations are supported:

  • WR Devkit V1.0

    • With Livox Mid-360 Lidar

  • AgileX Base

    • Ranger Mini 2.0
    • More to come

The onboard computer with the devkit should have been configured with the following software environment:

  • Ubuntu 22.04
  • ROS Humble

Installation

  • Install the Weston Robot Platform SDK (wrp-sdk)

    $ sudo install -m 0755 -d /etc/apt/keyrings
$ curl -fsSL http://deb.westonrobot.net/signing.key | sudo gpg --dearmor -o /etc/apt/keyrings/weston-robot.gpg
$ sudo chmod a+r /etc/apt/keyrings/weston-robot.gpg

$ echo \
    "deb [arch=$(dpkg --print-architecture) signed-by=/etc/apt/keyrings/weston-robot.gpg] http://deb.westonrobot.net/$(lsb_release -cs) $(lsb_release -cs) main" | \
    sudo tee /etc/apt/sources.list.d/weston-robot.list > /dev/null
$ sudo apt-get update

$ sudo apt-get install wrp-sdk

# Install drivers for peripherals
$ sudo apt-get install -y software-properties-common 
$ sudo add-apt-repository ppa:lely/ppa
$ sudo apt-get update

$ sudo apt-get install liblely-coapp-dev liblely-co-tools python3-dcf-tools pkg-config

    Please refer to this page for more details of the installation steps.

  • Install ros-dev-tools (Make sure you have ros2 installed first)

    $ sudo apt install ros-dev-tools

  • Install ugv_sdk dependencies

    sudo apt-get install build-essential git cmake libasio-dev

  • Install Livox SDK2 (if you have the devkit variant with the Livox Mid-360 Lidar)

    $ cd ~
$ git clone https://github.com/Livox-SDK/Livox-SDK2.git
$ cd Livox-SDK2
$ mkdir build && cd build && cmake .. && make
$ sudo make install

    Note: you can build and install the Livox-SDK2 at your preferred places other than "~/Livox-SDK2". And you can optionally remove the "Livox-SDK2" folder after installation.

  • Import the ROS packages into the workspace and build

    $ cd <your-workspace>/wr_devkit_navigation
# Clone dependencies
$ vcs import --recursive src < ./navigation.repos

$ source /opt/ros/humble/setup.bash
$ colcon build --symlink-install

    The build process should finish without any errors.

Running the packages

Remember to source the ROS Workspace first and optionally set ROS_DOMAIN_ID

  • Bringup Robot

    $ sudo ip link set can0 up type can bitrate 500000
$ sudo ip link set can0 txqueuelen 1000
$ ros2 launch wr_devkit_robot_bringup wr_devkit_robot_bringup.launch.py

  • 2D SLAM (Bringup robot first)

    $ ros2 launch wr_devkit_nav_bringup wr_devkit_cartographer.launch.py 

# Control via RC or teleop
$ ros2 run teleop_twist_keyboard teleop_twist_keyboard.py

# Save map
$ ros2 run nav2_map_server map_saver_cli -f <your_map_name>

  • Sample Nav2 (Bringup robot first)

    $ ros2 launch wr_devkit_nav_bringup wr_devkit_nav_bringup.launch.py map:=<your_map_yaml>
    • You may want to hardcode the absolute path of the pgm file in the map yaml file
    • Map to odom frame will not be published until you provide an initial pose estimate
    • You can run rviz2 on another pc via 
      ros2 launch nav2_bringup rviz_launch.py

Additional Notes

  • Sample launch files for ultrasonic sensors (not integrated with Nav2)

    • Ranger Mini 2.0
    $ ros2 launch wr_devkit_robot_bringup wr_devkit_ultrasonic_bringup.launch.py

  • Depending on the specific hardware configurations, you may need to modify the sample launch files and configuration files to adapt to your setup.
    Take note of the below in particluar:

    1. IP addresses of the lidar and the data ports it uses. (config file)
    2. Device path of the IMU in the launch file.