cobot_autonomy

UT AMRL stack for Cobot MoMa

Installation

To compile the messages:

cd cobot_msgs
make && make install

Add the following to ~/.bashrc:

source /opt/ros/foxy/setup.bash
source ~/cobot_autonomy/cobot_msgs/install/setup.sh --extend
export ROS_PACKAGE_PATH=~/cobot_autonomy/cobot_msgs:$ROS_PACKAGE_PATH

To compile linux cobot:

cd cobot_linux
make 
cd ..

Temporary Manual Setup

(We'll automate all this later, but for now, just doing manual setup)

AMRL Messages ROS2 Setup

1. Add the path to your ~/.bashrc file for the AMENT_PREFIX_PATH environment variable:

   echo "export AMENT_PREFIX_PATH=$(pwd)/amrl_msgs/install:\$AMENT_PREFIX_PATH" >> ~/.bashrc
   source ~/.bashrc

2. Run make in the amrl_msgs directory to build and install for ROS2.

AMRL Maps ROS2 Setup

1. Add the path to your ~/.bashrc file for the AMENT_PREFIX_PATH environment variable:

   echo "export AMENT_PREFIX_PATH=$(pwd)/amrl_maps/install:\$AMENT_PREFIX_PATH" >> ~/.bashrc
   source ~/.bashrc

2. Run make in the amrl_maps directory to build and install for ROS2.

WebViz ROS2 Setup

1. Install system dependencies:

   sudo apt install build-essential cmake qt5-default libqt5websockets5-dev \
                    qtbase5-dev qtwebengine5-dev libgoogle-glog-dev libgflags-dev \
                    colcon-common-extensions libgtest-dev liblua5.1-0-dev

2. Add the path to your ~/.bashrc file for the AMENT_PREFIX_PATH environment variable:

   echo "export AMENT_PREFIX_PATH=$(pwd)/webviz/install:\$AMENT_PREFIX_PATH" >> ~/.bashrc
   source ~/.bashrc

3. Run make in the webviz directory to build and install for ROS2.

Additional Bashrc Setup

Add this function to your ~/.bashrc to automatically source all ROS2 packages in AMENT_PREFIX_PATH:

# Auto-source all ROS2 packages in AMENT_PREFIX_PATH
function source_ros2_env() {
    if [ -n "$AMENT_PREFIX_PATH" ]; then
        IFS=':' read -ra PATHS <<< "$AMENT_PREFIX_PATH"
        for path in "${PATHS[@]}"; do
            # Skip the base ROS2 path (already sourced)
            if [[ "$path" == "/opt/ros/"* ]]; then
                continue
            fi
            
            # Look for local_setup.bash in share/*/local_setup.bash pattern
            local_setup_files=$(find "$path" -name "local_setup.bash" -path "*/share/*/local_setup.bash" 2>/dev/null)
            
            for setup_file in $local_setup_files; do
                if [ -f "$setup_file" ]; then
                    package_name=$(basename $(dirname "$setup_file"))
                    source "$setup_file"
                fi
            done
        done
    fi
}
source_ros2_env

Teleop

In one terminal, run:

cd cobot_linux && ./bin/cobot3_drive

In another terminal:

python spacemouse/spacemouse_driver.py

Lidar

ros2 run urg_node urg_node_driver --ros-args -p ip_address:=192.168.0.10 -r /scan:=/Cobot/Laser

Launch WebViz

1. Copy the webviz configuration template and customize it:

   cp webviz/config/webviz_config.lua config/cobot_webviz_config.lua

2. Run the websocket server:

cd webviz && ./bin/websocket --config_file=../config/cobot_webviz_config.lua --v=1

3. Open a web browser
4. Load webviz/webviz.html
5. Enter robot IP and click Connect

Known Issues

If cobot fails to connect to lidar:

sudo lsof -i :10940

You are expected to see the following:

COMMAND    PID    USER   FD   TYPE DEVICE SIZE/OFF NODE NAME
urg_node 83308 tiejean   23u  IPv4 415360      0t0  TCP cobot:48444->hokuyo:10940 (ESTABLISHED)

Kill this process by running:

sudo kill -9 <PID>

and try again.