ROS 2 - Autonomous Platforms
Details
This series will start with an introduction to ROS 2 and hands-on Python ROS 2 programming deep dive based on the UW Open-Source MusHr.io reference project. Our end goal is to convert MushR's ROS 1 code to a fully operation ROS 2 with or without Nav2 operating stack. Ryan on the other hand is building his own robot (using stepper motors) powered by ROS2/Nav2 stack from the sensor on up. Another group led by Camp is approaching ROS 2 from a ROS 1 to ROS 2 upgrade of their smart vacuum (Neato).
UPDATE 12/12/2021:
I have been looking at the WitMotion IMU WTC901C for a couple of weeks now. I found a ROS 1 repo called wit_node. The code base for this sensor is based on ROS 1 C++ modelet API which is replaced by Component in ROS 2.
This week, I started the ROS 1 wit_node port to ROS 2. I called the new package wit_node2. First step was to create the new package. I followed up by adding to the package the custom imu msg folder and added the necessary ROS 2 interface infrastructure to package config files.
We will have our last meet up of 2021 next week 12/19. See you Next Sunday or have Wonderful Holidays and see you folks in 2022.
UPDATE 11/28/2021: Camp walked thru the new python ROS 2 Ultrasound package he and his group put together from a couple of code snippet. Next up is the port of the WitMotion IMU. Team effort ! See you Next Sunday ! (Se new Zoom Links)
UPDATE: 11/14/2021: Let's look at the WitMotion IMU. They give you the driver but their ROS wrapper is a Nodelet. Let's do a quick look at what are ROW 1 Nodelet but more interesting will be our investigation of the New ROS 2 Component APP & the preferred Composition pattern. See you guys next Sunday !
UPDATE: 10/17/2021 For the Mars Rover, lets take a look at where we stand on the integration of Nav2. Starting with the Odom msg & URDF... I will look at what & how to port package & launch files along the way. Stay tuned and see you next Sunday !
UPDATE: 9/5/2021 Camp demoed Pi camera streaming between 2 remote p.o. And his laptop. Lots of teaks to make what was trivial in ROS 1 work in ROS 2. Progress !!! See you Next week.
UPDATE 8/2/2021 We are continuing our general discussion around ROS 2, Navigation 2 & Behaviours Trees. As well, I will start talking about the Mars Open Source Rover from NASA JPL and our effort to make it operation under the Navigation 2 stack. Mushr is next but is a heavier lift as it is a ROS 1 to ROS 2 as well having hardware constraints. See you guys this Sunday !
UPDATE 7/4/2021: We will finish our BT investigation next week
UPDATE 6/28/2021: ... BT deep dive continue next week on the 4th of July. We will look in more detail @ some of the Nav 2 plugin available out of the box. See you Next week.
UPDATE 6/13/2021: ... lots of discussion around Ryan's progress on getting Nav2 Odometry message ROS 2 publisher node coded. The current documentation is ROS 1. He is using stepper motors with no encoder and we think we can generate distance travel data from stepper ticks as basis for the odom ... as well, we are starting our second pass on Nav2 usage and implementation of Behavior Trees (BT) as the meta language for Nav2 based robotic navigation programming of its behavior !
Check out our new public repo and don't hesitate in jumping in and contribute your C++ Python ROS contributions.
Chaz's Github Repo
https://github.com/chazyman/ROS2Nav2
Ryan's :
Github Repo
https://github.com/rydb/RosHowTwo
YouTube channel
https://www.youtube.com/channel/UCPV78j4tH9LZH1V8NvsIDMw