Welcome to the official public repository for TortoisebotPro by RigBetel Labs.
Purpose:
This repository hosts essential documentation and code for TortoisebotPro Robot, facilitating transparency and collaboration.
Privacy:
Certain sensitive packages and scripts have been excluded to maintain privacy standards.
Contents:
- Documentation: Detailed guides and technical specifications.
- Codebase: Essential source code for TortoisebotPro Robot.
- Resources: Supplementary materials and dependencies.
Contact:
For inquiries and collaboration opportunities, reach out to RigBetel Labs.
Table of Contents
Clone the repository into your workspace,
cd ~/catkin_ws/src # Assuming catkin_ws is the name of the workspace
git clone https://github.com/rigbetellabs/tortoisebot_pro.gitBuild the workspace,
cd ~/catkin_ws/
catkin_makeInstallation of dependent packages,
cd ~/catkin_ws/src/tortoisebot_pro
cat requirements.txt | xargs sudo apt-get install -y
# This installs all the packages mentioned in the requirements.txtNote
Check if you already have the lidar packages installed; if not, get the packages from repos below.
cd ~/catkin_ws/src/
git clone https://github.com/YDLIDAR/ydlidar_ros_driver.gitWifi Setup?
To start any operation within the robot we need to SSH into and then perform operations.
Note
After switching the robot ON the Computing device takes a minute or so to boot up, wait for a while and then SSH into the robot using the below credentials.
ssh "your-robot-name"@"your-robot-ip"Note
Please refer the robot for robot_name and the login password.
Verify the IP that gets assigned to the robot via your network manager.
If you do not want to recheck if robot is connected to the network now or then you can utilize the connect_tortoisebotpro.sh script.
./connect_tortoisebotpro.sh "username" "robot-ip"The scripts scan the local network you are connected to and initiates a SSH connection if the robot is connected, the process continues until the robot is connected.
Successful execution looks something like this.
Important
We have tested mapping and navigation using Gmapping and Cartographer, Cartographer has some inherent flaws hence we prefer to use Gmapping over Cartographer. Launch files for cartographer are provided for you to experiment. Description for these launch files are provided but the launch sequence for these lauch file has not been added.
To manually control the robot.
| File | Description | Nodes Launched |
|---|---|---|
| tortoisebotpro_teleop_joy.launch | Manually control the robot using Xbox controller. |
/joy_node,
/teleop_twist_joy from tortoisebotpro_control
|
| tortoisebot_teleop_key.py | Modified version of teleop_twist_keyboard from teleop_twist_keyboard. |
/teleop_twist_keyboard |
| tortoisebotpro_teleop_joy.cpp | Custom remapping from joy to cmd_vel for controlling the robot using an Xbox controller. |
/teleop_joy |
Holds the robot description including urdf, stl, config files for rviz and gazebo
| File | Description | Nodes Launched |
|---|---|---|
| display.launch | Visualize the URDF of the robot in RVIZ. |
/rviz, /robot_state_publisher,
/joint_state_publisher
|
| gazebo.launch | Visualize the Robot in an empty world within Gazebo. |
/gazebo, /robot_state_publisher
|
| rviz.launch | Just RVIZ, useful to visualize while mapping or navigation. |
/rviz
|
As the name suggest get all the sensor and actuation topics available to you
| File | Description | Nodes Launched |
|---|---|---|
| bringup.launch | Launches Robot state publishers, serial node for communication with ESP32, Lidar driver, USB can driver. |
/robot_state_publisher, /rosout, /serial_node, /usb_cam, /wheel_odom, /ydlidar_node
|
| fake_landmark.py | Publish fake landmarks to be used by Cartographer. |
/landmark_sampler
|
| odom_pub.py | Takes the odom from TF published by Cartographer and publishes it as an individual topic. Only required when used with a real robot. |
/odom_publisher
|
| ticks_to_odom.py | Publishes Robot odometry as perceived by wheel encoders. |
/wheel_odom
|
| wavepoints.py | Makes robot traverse from one point to another. |
/csv_to_goal_publisher
|
Simulation environment for tortoisebotpro in Gazebo
| File | Description | Nodes Launched |
|---|---|---|
| tortoisebotpro_docking.launch | Docking environment for charging. | /spawn_urdf, /joint_state_publisher, /robot_state_publisher, /gazebo |
| tortoisebotpro_empty_world.launch | Just an empty world. | /spawn_urdf, /joint_state_publisher, /robot_state_publisher, /gazebo |
| tortoisebotpro_playground.launch | Tortoisebot needs a house to live in. | /spawn_urdf, /joint_state_publisher, /robot_state_publisher, /gazebo |
Autonomous navigation of robot using move_base in a know as well as unknown environment
| File | Description | Node Launched |
|---|---|---|
| amcl.launch | Let's localize the robot in the environment, not always robot know where it is in the environment. |
/amcl
|
| move_base.launch | The node responsible to get the robot moving from one point to other avoiding dynamic as well as static obstacles. Parameters for the move_base can be found in param directory |
/move_base
|
| tortoisebotpro_navigation.launch | Launches move_base along with presaved map or online map generation using
OR
roslaunch tortoisebotpro_odometry tortoisebotpro_carto_odom.launch/gmapping based upon your preference. |
/slam_gmapping, /cartographer_occupancy_grid_node, /map_server, /rviz, /move_base
|
How will the robot know where it is in the environment? Well it generates its own odometry for the purpose.
| File | Description | Nodes Launched |
|---|---|---|
| tortoisebotpro_icp_odom.launch | Produces odometry data for the robot using Lidar and IMU. |
/icp_odometry
/ekf_localization_node,
/alpha_beta_filter
|
| tortoisebotpro_carto_odom.launch | Produces odometry data for the robot using cartographer. |
/cartographer_node
|
| alpha_beta_filter.py | Alpha beta filter to smoothen out the translation in x and y. Odometry generated is purely based on lidar and IMU. This is how we do it. |
/alpha_beta_filter
|
TF of odom is broadcasted by alpha_beta_filter for mapping agents.
SLAM!
| File | Description | Node Launched |
|---|---|---|
| gmapping.launch | To generate the map of the environment using Gmapping. NOTE: Gmapping requires /scan topic as well odom => base_link transform.Parameters for the Gmapping can be found in config directory. |
/slam_gmapping
|
| cartographer.launch | To generate the map of the environment using Cartographer. |
/cartographer_node
|
| map_saver.launch | A map generated should be saved for navigation. |
/map_saver
|
Performs,
- Installation of udev rules to hardcode the physical USB ports
We have installed everything for you no need to worry about!
roslaunch tortoisebotpro_gazebo tortoisebotpro_docking.launch # To launch Gazebo simulation environment
roslaunch tortoisebotpro_slam gmapping.launch # To generate Maproslaunch tortoisebotpro_description rviz.launch # To visualize the map generated
rosrun tortoisebotpro_control tortoisebot_teleop_key.py # To control the robot using keyboardSave the map after satisfaction,
roslaunch tortoisebotpro_slam map_saver.launch map_name:=your_map # To save the map
# Change your_map to what ever you wantroslaunch tortoisebotpro_gazebo tortoisebotpro_docking.launch # To launch Gazebo simulation environmentroslaunch tortoisebotpro_navigation tortoisebotpro_navigation.launch exploration:=false map_file:=docking
roslaunch tortoisebotpro_gazebo tortoisebotpro_docking.launch # To launch Gazebo simulation environmentroslaunch tortoisebotpro_navigation tortoisebotpro_navigation.launch exploration:=true
Note
For every command to be executed within the robot a new SSH connection needs to be established.
roslaunch tortoisebotpro_firmware bringup.launch using_joy:=true # Set to true if using Xbox controller to control the robotImportant
The current bringup.launch file looks for YDLidar X4-Pro model to start the scanning, if you have X4 model on your robot, edit the launch file from X4-Pro.launch to X4.launch in bringup.launch
rosrun tortoisebotpro_control tortoisebot_teleop_key.py # If using computer keyboard to control the robotNote
If you are using XBOX controller to control the robot set the using_joy argument within the bringup.launch to true and donot use tortoisebot_teleop_key.py and if teleop_twist_keyboard set the using_joy argument within the bringup.launch to false and execute tortoisebot_teleop_key.py
Config to use the XBOX controller
roslaunch tortoisebotpro_odometry tortoisebotpro_icp_odom.launch # TO generate Odometryroslaunch tortoisebotpro_slam gmapping.launch # To generate MapSave the map after satisfaction,
roslaunch tortoisebotpro_slam map_saver.launch map_name:=your_map
# Change your_map to what ever you want
roslaunch tortoisebotpro_firmware bringup.launch roslaunch tortoisebotpro_odometry tortoisebotpro_icp_odom.launch # TO generate Odometryroslaunch tortoisebotpro_navigation tortoisebotpro_navigation.launch exploration:=false map_file:=your_map
roslaunch tortoisebotpro_firmware bringup.launch roslaunch tortoisebotpro_odometry tortoisebotpro_icp_odom.launch # TO generate Odometryroslaunch tortoisebotpro_navigation tortoisebotpro_navigation.launch exploration:=true
Tip
For you to visualize the maps, robot position you will need to connect robot and your computer in a ROS_MASTER and ROS_SLAVE configuration. Follow the below instructions to do so
Open a terminal editor to edit .bashrc
nano ~/.bashrcPaste the below code with right credentials
export ROS_MASTER_URI=http://"your-robot-ip":11311
export ROS_HOSTNAME="your-computer-ip"How to find your computer ip,
hostname -I
And then launch,
roslaunch tortoisebotpro_description rviz.launch # To visualize the map generated| Parameter | Value |
|---|---|
| Wheel Separation Length | 0.195m |
| Motor Type | Planetary DC Geared Motor |
| RPM | 110 |
| Encoder Type | Magnetic Encoder |
| PPR (Pulses Per Revolution) | 420 |
| Microcontroller | DOIT-ESP32 Devkit V1 |
| PC Used | Intel NUC i3 10th Gen |
| Robot Payload Capacity | 15 kgs |
| Battery Life | About 1.5 hours |
| Battery Type | Lithium-ion 6-cell, 22.2V |
| Topic | Description |
|---|---|
/bat_per |
Battery percentage remaining until complete discharge |
/bat_voltage |
Battery voltage |
/cmd_vel |
Command velocity for the robot |
/diagnostics |
Diagnostics messages |
/heading |
Robot heading based on magnetometer |
/imu/data |
IMU data including orientation, rotational velocities and linear acceleration |
/wheel/ticks |
Encoder reading of wheels in an array of the format of [left, right] |
/wheel/vel |
Wheel velocities in an array of the format of [left, right] |
/odom |
Odometry generated from wheel encoders |
/pid/constants |
Set PID constants |
/pid/control |
Should PID be used or not |
/scan |
Lidar measurements |
/usb_cam |
Cascaded topics providing complete information about the camera |
/diagnostics/test |
Run diagnostics on the robot |
Within the robot a buzzer beeps to indicate the status of battery.
| Battery Level | Beeps Status |
|---|---|
| 100 % to 20 % | No beeps |
| 20 % to 15 % | Beeps after every 2 mins |
| 15 % to 10 % | Beeps after every 1 min |
| 10 % to 0 % | Continuous Beeps |
Caution
Do not drain the battery below 10 %, doing so will damage the battery permanently.
Maximum battery voltage is 25.2V and minimum usable battery voltage is 19.8V
A battery is made available on the robot which indicate the status of the battery so that you don't have to echo on topics. Every bar on the indicator indicates 25% battery health. So,
| Bar Level | Battery Level |
|---|---|
| 1 | 0 % to 25 % |
| 2 | 25 % to 50 % |
| 3 | 50 % to 75 % |
| 4 | 75 % to 100 % |
Maximum Linear Velocity - 0.37 m s-1
Maximum Angular Velocity - 3.836 rad s-1
A strict rule needs to be followed while connecting Lidar, ESP32 and USB camera. These ports are hardcoded and devices needs to be connected as depicted below.
