ros-llm-demo

A ROS LLM Demo, for funzies

Software versions

The considered software supports ROS2:

Software	Humble	Iron	Jazzy
Turtlebot 3	✅	❌	❌
ROSA	✅	✅	✅
ROS-LLM	✅	❌	❌

Needs ROS2 Humble Hawksbill, and therefore Ubuntu 22.04. Jazzy and 24.04 would be great, but no.

Installation

Virtual Machine

VM is nice for easy fun. Used VMWare Workstation Pro and made an Ubuntu 22.04 VM.

• 8GB RAM
• 50 GB storage
• 2 CPU cores

ROS2 install steps

History of commands for install of ROS2 Humble in VM. Resulting steps from https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debs.html

sudo apt-get update
sudo apt-get upgrade

sudo apt update && sudo apt install curl -y
sudo curl -sSL https://github.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null

sudo apt update
sudo apt upgrade

sudo apt install ros-humble-desktop
sudo apt install ros-dev-tools

echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc

Turtlebot 3 install steps

History of commands for install of Turtlebot 3 in VM. Resulting steps from https://emanual.robotis.com/docs/en/platform/turtlebot3/quick-start/

sudo apt install ros-humble-gazebo-*
sudo apt install ros-humble-cartographer
sudo apt install ros-humble-cartographer-ros
sudo apt install ros-humble-navigation2
sudo apt install ros-humble-nav2-bringup

mkdir -p ~/turtlebot3_ws/src
cd ~/turtlebot3_ws/src/
git clone -b humble https://github.com/ROBOTIS-GIT/DynamixelSDK.git
git clone -b humble https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git
git clone -b humble https://github.com/ROBOTIS-GIT/turtlebot3.git
sudo apt install python3-colcon-common-extensions
cd ~/turtlebot3_ws
colcon build --symlink-install

echo 'source ~/turtlebot3_ws/install/setup.bash' >> ~/.bashrc
echo 'export ROS_DOMAIN_ID=30 #TURTLEBOT3' >> ~/.bashrc
echo 'source /usr/share/gazebo/setup.sh' >> ~/.bashrc

cd ~/turtlebot3_ws/src/
git clone -b humble https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git
cd ~/turtlebot3_ws && colcon build --symlink-install

echo 'export TURTLEBOT3_MODEL=waffle_pi' >> ~/.bashrc

Note: got an error on dynamixel and gazebo during build, don't care at this point though.

Verify .bashrc

After install, the following 4 lines should be at then end of .bashrc

source /opt/ros/humble/setup.bash
source ~/turtlebot3_ws/install/setup.bash
export ROS_DOMAIN_ID=30 #TURTLEBOT3
source /usr/share/gazebo/setup.sh
export TURTLEBOT3_MODEL=waffle_pi

verify using gedit ~/.bashrc and scroll to bottom.

Test Turtlebot 3 simulation

Use https://emanual.robotis.com/docs/en/platform/turtlebot3/nav_simulation/

Make a map

Terminal 1

ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py

Terminal 2

ros2 launch turtlebot3_cartographer cartographer.launch.py use_sim_time:=True

Terminal 3

ros2 run turtlebot3_teleop teleop_keyboard

used terminal 3 to drive the turtlebot around to make a map. Then

Terminal 4

ros2 run nav2_map_server map_saver_cli -f ~/map

Demo

Terminal 1

ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py

Terminal 2

ros2 launch turtlebot3_navigation2 navigation2.launch.py use_sim_time:=True map:=$HOME/map.yaml

RViz

Do a 2D Pose Estimate to start.

Add "Image" from topic.

Do a Nav2 Goal to move the robot.

Add LLM

TODO: add the fun part.