319 lines
9.0 KiB
Markdown
319 lines
9.0 KiB
Markdown
# BCR Bot
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https://github.com/blackcoffeerobotics/bcr_bot/assets/13151010/0fc570a3-c70c-415b-8222-b9573d5911c8
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## About
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This repository contains a Gazebo and Isaac Sim simulation for a differential drive robot, equipped with an IMU, a depth camera, stereo camera and a 2D LiDAR. The primary contriution of this project is to support multiple ROS and Gazebo distros. Currently, the project supports the following versions -
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1. [ROS Noetic + Gazebo Classic 11 (branch ros1)](#noetic--classic-ubuntu-2004)
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2. [ROS2 Humble + Gazebo Classic 11 (branch ros2)](#humble--classic-ubuntu-2204)
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3. [ROS2 Humble + Gazebo Fortress (branch ros2)](#humble--fortress-ubuntu-2204)
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4. [ROS2 Humble + Gazebo Harmonic (branch ros2)](#humble--harmonic-ubuntu-2204)
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5. [ROS2 Humble + Isaac Sim (branch ros2)](#humble--isaac-sim-ubuntu-2204)
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Each of the following sections describes depedencies, build and run instructions for each of the above combinations
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## Noetic + Classic (Ubuntu 20.04)
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### Dependencies
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In addition to ROS1 Noetic and Gazebo Classic installations, the dependencies can be installed with [rosdep](http://wiki.ros.org/rosdep)
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```bash
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# From the root directory of the workspace. This will install everything mentioned in package.xml
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rosdep install --from-paths src --ignore-src -r -y
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```
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### Source Build
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```bash
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catkin build --packages-select bcr_bot
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```
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### Binary Install
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To install BCR bot in the binaries:
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```bash
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sudo apt-get install ros-noetic-bcr-bot
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```
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### Run
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To launch the robot in Gazebo,
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```bash
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roslaunch bcr_bot gazebo.launch
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```
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To view in rviz,
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```bash
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roslaunch bcr_bot rviz.launch
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```
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### Configuration
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The launch file accepts multiple launch arguments,
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```bash
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roslaunch bcr_bot gazebo.launch
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camera_enabled:=True \
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two_d_lidar_enabled:=True \
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position_x:=0.0 \
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position_y:=0.0 \
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orientation_yaw:=0.0 \
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odometry_source:=world \
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world_file:=small_warehouse.world \
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robot_namespace:="bcr_bot"
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```
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**Note:** To use stereo_image_proc with the stereo images excute following command:
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```bash
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ROS_NAMESPACE=bcr_bot/stereo_camera rosrun stereo_image_proc stereo_image_proc
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```
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## Humble + Classic (Ubuntu 22.04)
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### Dependencies
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In addition to ROS2 Humble and Gazebo Classic installations, we need to manually install [gazebo_ros_pkgs](https://github.com/ros-simulation/gazebo_ros_pkgs/tree/ros2) (since the same branch supports Classic and Fortress)
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```bash
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sudo apt-get install ros-humble-gazebo-ros-pkgs
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```
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Remainder of the dependencies can be installed with [rosdep](http://wiki.ros.org/rosdep)
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```bash
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# From the root directory of the workspace. This will install everything mentioned in package.xml
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rosdep install --from-paths src --ignore-src -r -y
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```
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### Source Build
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```bash
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colcon build --packages-select bcr_bot
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```
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### Binary Install
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To install BCR bot in the binaries:
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```bash
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sudo apt-get install ros-humble-bcr-bot
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```
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### Run
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To launch the robot in Gazebo,
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```bash
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ros2 launch bcr_bot gazebo.launch.py
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```
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To view in rviz,
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```bash
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ros2 launch bcr_bot rviz.launch.py
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```
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### Configuration
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The launch file accepts multiple launch arguments,
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```bash
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ros2 launch bcr_bot gazebo.launch.py \
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camera_enabled:=True \
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two_d_lidar_enabled:=True \
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stereo_camera_enabled:=False \
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position_x:=0.0 \
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position_y:=0.0 \
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orientation_yaw:=0.0 \
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odometry_source:=world \
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world_file:=small_warehouse.sdf \
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robot_namespace:="bcr_bot"
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```
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**Note:** To use stereo_image_proc with the stereo images excute following command:
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```bash
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ros2 launch stereo_image_proc stereo_image_proc.launch.py left_namespace:=bcr_bot/stereo_camera/left right_namespace:=bcr_bot/stereo_camera/right
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```
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## Humble + Fortress (Ubuntu 22.04)
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### Dependencies
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In addition to ROS2 Humble and [Gazebo Fortress installations](https://gazebosim.org/docs/fortress/install_ubuntu), we need to manually install interfaces between ROS2 and Gazebo sim as follows,
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```bash
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sudo apt-get install ros-humble-ros-gz-sim ros-humble-ros-gz-bridge ros-humble-ros-gz-interfaces
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```
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Remainder of the dependencies can be installed with [rosdep](http://wiki.ros.org/rosdep)
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```bash
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# From the root directory of the workspace. This will install everything mentioned in package.xml
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rosdep install --from-paths src --ignore-src -r -y
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```
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### Source Build
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```bash
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colcon build --packages-select bcr_bot
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```
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### Binary Install
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To install BCR bot in the binaries:
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```bash
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sudo apt-get install ros-humble-bcr-bot
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```
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### Run
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To launch the robot in Gazebo,
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```bash
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ros2 launch bcr_bot ign.launch.py
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```
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To view in rviz,
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```bash
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ros2 launch bcr_bot rviz.launch.py
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```
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### Configuration
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The launch file accepts multiple launch arguments,
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```bash
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ros2 launch bcr_bot ign.launch.py \
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camera_enabled:=True \
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stereo_camera_enabled:=False \
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two_d_lidar_enabled:=True \
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position_x:=0.0 \
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position_y:=0.0 \
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orientation_yaw:=0.0 \
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odometry_source:=world \
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world_file:=small_warehouse.sdf
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```
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**Note:** To use stereo_image_proc with the stereo images excute following command:
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```bash
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ros2 launch stereo_image_proc stereo_image_proc.launch.py left_namespace:=bcr_bot/stereo_camera/left right_namespace:=bcr_bot/stereo_camera/right
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```
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## Humble + Harmonic (Ubuntu 22.04)
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### Dependencies
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In addition to ROS2 Humble and [Gazebo Harmonic installations](https://gazebosim.org/docs/harmonic/install_ubuntu), we need to manually install interfaces between ROS2 and Gazebo sim as follows,
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```bash
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sudo apt-get install ros-humble-ros-gzharmonic
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```
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Remainder of the dependencies can be installed with [rosdep](http://wiki.ros.org/rosdep)
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```bash
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# From the root directory of the workspace. This will install everything mentioned in package.xml
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rosdep install --from-paths src --ignore-src -r -y
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```
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### Build
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```bash
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colcon build --packages-select bcr_bot
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```
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### Run
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To launch the robot in Gazebo,
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```bash
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ros2 launch bcr_bot gz.launch.py
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```
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To view in rviz,
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```bash
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ros2 launch bcr_bot rviz.launch.py
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```
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### Configuration
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The launch file accepts multiple launch arguments,
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```bash
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ros2 launch bcr_bot gz.launch.py \
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camera_enabled:=True \
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stereo_camera_enabled:=False \
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two_d_lidar_enabled:=True \
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position_x:=0.0 \
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position_y:=0.0 \
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orientation_yaw:=0.0 \
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odometry_source:=world \
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world_file:=small_warehouse.sdf
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```
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**Note:**
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1. To use stereo_image_proc with the stereo images excute following command:
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```bash
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ros2 launch stereo_image_proc stereo_image_proc.launch.py left_namespace:=bcr_bot/stereo_camera/left right_namespace:=bcr_bot/stereo_camera/right
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```
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2. Harmonic support is not available in the bcr_bot binaries yet.
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**Warning:** `gz-harmonic` cannot be installed alongside gazebo-classic (eg. gazebo11) since both use the `gz` command line tool.
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### Humble + Isaac Sim (Ubuntu 22.04)
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### Dependencies
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In addition to ROS2 Humble [Isaac Sim installation](https://docs.omniverse.nvidia.com/isaacsim/latest/installation/index.html) with ROS2 extension is required. Remainder of bcr_bot specific dependencies can be installed with [rosdep](http://wiki.ros.org/rosdep)
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```bash
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# From the root directory of the workspace. This will install everything mentioned in package.xml
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rosdep install --from-paths src --ignore-src -r -y
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```
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### Build
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```bash
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colcon build --packages-select bcr_bot
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```
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### Run
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To launch the robot in Isaac Sim:
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- Open Isaac Sim and load the `warehouse_scene.usd` or `scene.usd` from [here](usd).
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- Add in extra viewports for different camera views.
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- Start the Simulation: Run the simulation directly within Isaac Sim.
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- The following USDs are included in the package:
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- `warehouse_scene.usd` - Warehouse scene with a robot.
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- `scene.usd` - Scene with a robot in a empty world.
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- `bcr_bot.usd` - Robot model that can be imported into any scene.
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- `ActionGraphFull.usd` - Action graph for the robot to publish all the required topics.
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To view in rviz:
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```bash
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ros2 launch bcr_bot rviz.launch.py
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```
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NOTE: The command to run mapping and navigation is common between all versions of gazebo and Isaac sim see [here](#mapping-with-slam-toolbox).
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### Mapping with SLAM Toolbox
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SLAM Toolbox is an open-source package designed to map the environment using laser scans and odometry, generating a map for autonomous navigation.
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NOTE: The command to run mapping is common between all versions of gazebo.
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To start mapping:
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```bash
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ros2 launch bcr_bot mapping.launch.py
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```
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Use the teleop twist keyboard to control the robot and map the area:
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```bash
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ros2 run teleop_twist_keyboard teleop_twist_keyboard cmd_vel:=/bcr_bot/cmd_vel
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```
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To save the map:
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```bash
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cd src/bcr_bot/config
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ros2 run nav2_map_server map_saver_cli -f bcr_map
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```
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### Using Nav2 with bcr_bot
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Nav2 is an open-source navigation package that enables a robot to navigate through an environment easily. It takes laser scan and odometry data, along with the map of the environment, as inputs.
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NOTE: The command to run navigation is common between all versions of gazebo and Isaac sim.
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To run Nav2 on bcr_bot:
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```bash
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ros2 launch bcr_bot nav2.launch.py
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```
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### Simulation and Visualization
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1. Gz Sim (Ignition Gazebo) (small_warehouse World):
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2. Isaac Sim:
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3. Rviz (Depth camera) (small_warehouse World):
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