From ee5b211ac17913e7e4c2fbaf61ebdba3e707649c Mon Sep 17 00:00:00 2001 From: YazawaKenichi Date: Mon, 27 Nov 2023 16:22:42 +0900 Subject: [PATCH 1/6] =?UTF-8?q?=E3=81=9F=E3=81=BE=E3=83=81=E3=83=BC?= =?UTF-8?q?=E3=83=A0=E3=81=AE=E8=84=B3=E6=AD=BB=E3=82=B3=E3=83=9E=E3=83=B3?= =?UTF-8?q?=E3=83=89=E3=83=89=E3=82=AD=E3=83=A5=E3=83=A1=E3=83=B3=E3=83=88?= =?UTF-8?q?=E3=82=92=E8=BF=BD=E5=8A=A0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- docs/document/real_machine/dead_brain/tama.md | 103 ++++++++++++++++++ mkdocs.yml | 2 + 2 files changed, 105 insertions(+) create mode 100644 docs/document/real_machine/dead_brain/tama.md diff --git a/docs/document/real_machine/dead_brain/tama.md b/docs/document/real_machine/dead_brain/tama.md new file mode 100644 index 0000000..b176ddd --- /dev/null +++ b/docs/document/real_machine/dead_brain/tama.md @@ -0,0 +1,103 @@ +# SSH でキャットにつなぐ（有線 LAN ） +``` +source ~/.bashrc +ssh ubuntu@$ETHERNET_IP +``` + +## USB 指し直しが必要 + +# キャリブレーション +``` +ros2 launch imu_calibration_data imu_c_data_launch.py +``` + +# マップをとる +Raspberry Piで実行 +``` +ros2 launch raspicat raspicat.launch.py +``` +``` +ros2 service call /motor_power std_srvs/SetBool '{data: true}' +``` +``` +ros2 launch raspicat_bringup teleop.launch.py teleop:=joy +``` +``` +ros2 bag record -a +``` + +## 取得したrosbagをノートPCに移動(PC側)(無線Ver) +``` +sudo scp -r ubuntu@192.168.12.1:~/取ったrosbagのディレクトリ名 ~/ +``` + +#### USBで別のPCに + +# マップ作成（別のPC） +``` +ros2 launch raspicat_slam raspicat_slam_toolbox.launch.py +``` +``` +ros2 bag play -r 1 --clock 100 取ったrosbagのディレクトリ名 +``` +``` +ros2 run nav2_map_server map_saver_cli -f ~/つけたいマップの名前 +``` + +## マップ加工 + +USBでマップをナビゲーションをするPC持って来る + +# 複数マップを使う準備 +ノートPCで実行 +``` +cd ~/raspicat2/src/raspicat_slam_navigation +git switch feat/localization-and-navigation-map +``` + +## マップの保存先 +`~/raspicat2/src/raspicat_slam_navigation/raspicat_slam/config/maps` + +`.yaml` と `.pgm` を一緒に入れる。 + +## 二種類のマップを設定 +`~/raspicat2/src/raspicat_slam_navigation/raspicat_navigation/config/param/nav2.param.yaml` +``` +navigation_map_server: + ros__parameters: + use_sim_time: False + # ↓ を修正（絶対パスで！） + yaml_filename: "/home/USER/raspicat2/src/raspicat_slam_navigation/raspicat_slam/config/maps/NAME.yaml" + +localization_map_server: + ros__parameters: + use_sim_time: False + # ↓ を修正（絶対パスで！） + yaml_filename: "/home/USER/raspicat2/src/raspicat_slam_navigation/raspicat_slam/config/maps/NAME.yaml" +``` + +## ビルド +ノートPCで実行 + +``` +cd ~/raspicat2 +colcon build --packages-select raspicat_description emcl2 raspicat_setup_scripts raspicat_slam raspicat_speak2 raspicat_bringup raspicat_navigation raspicat raspicat_gazebo nav2_waypoint_follower nav2_rviz_plugins nav2_msgs raspimouse_msgs teleop_twist_joy +. install/setup.bash +``` + +# ナビゲーション + +!!! Info + キャリブレーションした？？？ + +Raspberry Piで実行 +``` +ros2 launch raspicat raspicat.launch.py +``` + +ノートPCで実行 +``` +ros2 service call /motor_power std_srvs/SetBool '{data: true}' +ros2 launch raspicat_navigation raspicat_nav2.launch.py +``` + diff --git a/mkdocs.yml b/mkdocs.yml index 302c5c6..2b5f3ec 100644 --- a/mkdocs.yml +++ b/mkdocs.yml @@ -103,6 +103,8 @@ nav: - Navigation: - ナビゲーション: document/real_machine/navigation/navigation.md - ウェイポイント ナビゲーション: document/real_machine/navigation/waypoint_navigation.md + - Dead Brain: + - たまチーム: document/real_machine/dead_brain/tama.md - Repository: - Raspberry Pi Cat関連のリポジトリ: repository/repository.md From b081a8c511dd3ddb077e5f8f26c12ddf994edc17 Mon Sep 17 00:00:00 2001 From: YazawaKenichi Date: Thu, 18 Apr 2024 19:15:30 +0900 Subject: [PATCH 2/6] =?UTF-8?q?=E8=84=B3=E6=AD=BB=E3=83=9E=E3=83=8B?= =?UTF-8?q?=E3=83=A5=E3=82=A2=E3=83=AB=E3=81=AE=E5=A0=B4=E6=89=80=E3=82=92?= =?UTF-8?q?=E7=A7=BB=E5=8B=95?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../brain_death_manual}/tama.md | 0 mkdocs.yml | 5 +++-- 2 files changed, 3 insertions(+), 2 deletions(-) rename docs/document/real_machine/{dead_brain => tsukuba_challenge/brain_death_manual}/tama.md (100%) diff --git a/docs/document/real_machine/dead_brain/tama.md b/docs/document/real_machine/tsukuba_challenge/brain_death_manual/tama.md similarity index 100% rename from docs/document/real_machine/dead_brain/tama.md rename to docs/document/real_machine/tsukuba_challenge/brain_death_manual/tama.md diff --git a/mkdocs.yml b/mkdocs.yml index 2b5f3ec..f1c47ce 100644 --- a/mkdocs.yml +++ b/mkdocs.yml @@ -103,8 +103,9 @@ nav: - Navigation: - ナビゲーション: document/real_machine/navigation/navigation.md - ウェイポイント ナビゲーション: document/real_machine/navigation/waypoint_navigation.md - - Dead Brain: - - たまチーム: document/real_machine/dead_brain/tama.md + - TSUKUBA CHALLENGE: + - Brain Death Manual: + - たまチーム: document/real_machine/tsukuba_challenge/brain_death_manual/tama.md - Repository: - Raspberry Pi Cat関連のリポジトリ: repository/repository.md From 79c64d5523cf0f4e24badf38427a1773168b2352 Mon Sep 17 00:00:00 2001 From: YazawaKenichi Date: Thu, 18 Apr 2024 19:17:50 +0900 Subject: [PATCH 3/6] =?UTF-8?q?=E5=A4=89=E6=95=B0=E4=BB=A3=E5=85=A5?= =?UTF-8?q?=E3=81=AE=E3=82=B3=E3=83=9E=E3=83=B3=E3=83=89=E3=82=92=E8=BF=BD?= =?UTF-8?q?=E5=8A=A0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../tsukuba_challenge/brain_death_manual/tama.md | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/docs/document/real_machine/tsukuba_challenge/brain_death_manual/tama.md b/docs/document/real_machine/tsukuba_challenge/brain_death_manual/tama.md index b176ddd..e94f49a 100644 --- a/docs/document/real_machine/tsukuba_challenge/brain_death_manual/tama.md +++ b/docs/document/real_machine/tsukuba_challenge/brain_death_manual/tama.md @@ -1,3 +1,9 @@ +# 変数の設定 +PCとRaspberry Pi Catを有線LANで接続した状態で以下のコマンドを実行 +``` +export ETHERNET_IP=$(sudo arp-scan -l -I $ET_NIC_NAME | awk 'NR==4{print $1}') +``` + # SSH でキャットにつなぐ（有線 LAN ） ``` source ~/.bashrc From 0c377f206c75bebab4c3be0560ade13cb66f16c4 Mon Sep 17 00:00:00 2001 From: YazawaKenichi Date: Thu, 18 Apr 2024 19:23:06 +0900 Subject: [PATCH 4/6] =?UTF-8?q?=E3=83=8F=E3=82=A4=E3=83=91=E3=83=BC?= =?UTF-8?q?=E3=83=AA=E3=83=B3=E3=82=AF=E4=BF=AE=E6=AD=A3?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../real_machine/tsukuba_challenge/brain_death_manual/tama.md | 2 ++ 1 file changed, 2 insertions(+) diff --git a/docs/document/real_machine/tsukuba_challenge/brain_death_manual/tama.md b/docs/document/real_machine/tsukuba_challenge/brain_death_manual/tama.md index e94f49a..d03d1c4 100644 --- a/docs/document/real_machine/tsukuba_challenge/brain_death_manual/tama.md +++ b/docs/document/real_machine/tsukuba_challenge/brain_death_manual/tama.md @@ -13,6 +13,8 @@ ssh ubuntu@$ETHERNET_IP ## USB 指し直しが必要 # キャリブレーション +Raspberry Piで実行 +[raspimouse2リポジトリのfeat/imu-yaw-estimationブランチ](https://github.com/CIT-Autonomous-Robot-Lab/raspimouse2/tree/feat/imu-yaw-estimation)にあるキャリブレーション用Launchファイルの実行 ``` ros2 launch imu_calibration_data imu_c_data_launch.py ``` From 81eb0cb4f1c444bf28d6401ca4179c22c2d5032b Mon Sep 17 00:00:00 2001 From: YazawaKenichi Date: Thu, 18 Apr 2024 19:30:24 +0900 Subject: [PATCH 5/6] =?UTF-8?q?=E5=8D=8A=E8=A7=92=E3=81=A8=E5=85=A8?= =?UTF-8?q?=E8=A7=92=E3=81=AE=E9=96=93=E3=81=AE=E5=8D=8A=E8=A7=92=E3=82=B9?= =?UTF-8?q?=E3=83=9A=E3=83=BC=E3=82=B9=E3=82=92=E5=89=8A=E9=99=A4?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../real_machine/tsukuba_challenge/brain_death_manual/tama.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/docs/document/real_machine/tsukuba_challenge/brain_death_manual/tama.md b/docs/document/real_machine/tsukuba_challenge/brain_death_manual/tama.md index d03d1c4..5d1ca1b 100644 --- a/docs/document/real_machine/tsukuba_challenge/brain_death_manual/tama.md +++ b/docs/document/real_machine/tsukuba_challenge/brain_death_manual/tama.md @@ -4,13 +4,13 @@ PCとRaspberry Pi Catを有線LANで接続した状態で以下のコマンド export ETHERNET_IP=$(sudo arp-scan -l -I $ET_NIC_NAME | awk 'NR==4{print $1}') ``` -# SSH でキャットにつなぐ（有線 LAN ） +# SSHでキャットにつなぐ（有線LAN） ``` source ~/.bashrc ssh ubuntu@$ETHERNET_IP ``` -## USB 指し直しが必要 +## USB指し直しが必要 # キャリブレーション Raspberry Piで実行 From 6a85123f80aa331b8ddc6bf57c904fc16580366b Mon Sep 17 00:00:00 2001 From: YazawaKenichi Date: Thu, 18 Apr 2024 19:32:50 +0900 Subject: [PATCH 6/6] =?UTF-8?q?=E6=94=B9=E8=A1=8C=E3=82=92=E8=BF=BD?= =?UTF-8?q?=E5=8A=A0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../real_machine/tsukuba_challenge/brain_death_manual/tama.md | 1 + 1 file changed, 1 insertion(+) diff --git a/docs/document/real_machine/tsukuba_challenge/brain_death_manual/tama.md b/docs/document/real_machine/tsukuba_challenge/brain_death_manual/tama.md index 5d1ca1b..5af917b 100644 --- a/docs/document/real_machine/tsukuba_challenge/brain_death_manual/tama.md +++ b/docs/document/real_machine/tsukuba_challenge/brain_death_manual/tama.md @@ -14,6 +14,7 @@ ssh ubuntu@$ETHERNET_IP # キャリブレーション Raspberry Piで実行 + [raspimouse2リポジトリのfeat/imu-yaw-estimationブランチ](https://github.com/CIT-Autonomous-Robot-Lab/raspimouse2/tree/feat/imu-yaw-estimation)にあるキャリブレーション用Launchファイルの実行 ``` ros2 launch imu_calibration_data imu_c_data_launch.py