Help with real robot

[thanhtruongphan]

Hi @hippo5329, see your robot tank very interesting.

now, I don't have a LD19 lidar and Driver for Robots like you, I have an A1M8, and L298. Should I buy a new Driver? (In that case, I must order from abroad. yeah It'll take a long time 😄 )

here is a sample I'm doing with

[hippo5329]

A1M8 and L298 are fine.
What is your battery and motor spec?
The wheel encoder power should be 3.3V. Do not use 5V, which will fry your controller.
You can use a esp32 instead of teensy.

[hippo5329]

L298
AEN and BEN use jumper plug shorted to high.
IN1-IN4 to esp32 pwm

[hippo5329]

Take some picture of your wiring.

esp32 power from usb of rpi.

MPU6050 power from VOUT 5V of esp32.
esp32 I2C SDA SCL need 2.2K to V33 3.3V of esp32 module.

L298 uses on-board 5V jumper plug.

You will need a 3.3V regulator (LM1117 etc) for encoder ,from L298 5V output.

[thanhtruongphan]

yeah, I sovled the problem comunicate SBC with ubuntu laptop linorobot/linorobot2#2 (comment)

now, I need to do some works with my Jeston nano devkit, (i have never used it before)
I will comeback to do with esp soon... 🥲

[hippo5329]

https://nshopvn.com/product/mach-giam-ap-3-3v-ams1117/

[hippo5329]

esp32 i/o pins assignment
motor 19 18 16 17 13 12 4 23, power 12V gnd, 2 PWM pins (INA, INB) driver
encoder 35 34 39 36 32 27 26 25, power 3.3V gnd
i2c scl 22 sda 21, power 3.3v gnd, need 2.2k pull high to 3.3V
battery adc 33, divider 12V-33k-10k-gnd (dac 25, used only during adc calibration)
uart0 txd 1 rxd 3
led 2

[hippo5329]

2WD unused pwm 13 12 4 23 encoder 32 27 26 25 pins leave unconnected.

You need 33K and 10k for battery voltage sensor. It is important to debug motor issue.

[hippo5329]

laptop --wifi -- rpi --usb-- A1M8 and esp32
vscode -- remote development ssh -- rpi -- esp32

[hippo5329]

Jetson nano SDK uses ubuntu 18.04

You can try community image,
https://forums.developer.nvidia.com/t/ubuntu-22-04-image-beta-test-for-jetson-nano/253301

[thanhtruongphan]

https://forums.developer.nvidia.com/t/ubuntu-22-04-image-beta-test-for-jetson-nano/253301

this image is not secure. It's just beta and some people say it has many problems (in the comments of this link)

instead, chatGPT says I can install Ubuntu 20.04 on Jetson, then use LXD to create a container of Ubuntu 22.04 with ROS-humble or Ubuntu 24 with ROS-jazzy, right?
Does it work ok? can you share some things with me? hehe

[thanhtruongphan]

i forgot, i still need the official supported version for the jetson nano devkit for image processing

[thanhtruongphan]

Is this possible? good evening @hippo5329
my idea is: I install the official Ubuntu with SDK support for Jetson nano dev kit as the default OS (ubuntu 18.04 as you said), I do a project on autonomous vehicles with image processing, I use LXD to install ROS2 humble on Ubuntu 22.04, to operate the autonomous vehicle, and the image processing feature is still used on the default OS to take advantage of the default features of Jetson, is that okay? 🦝

[hippo5329]

You can try docker on jetson nono.

[hippo5329]

"Docker is included in JetPack, so running containers on Jetson is easy and does not require any installation. "

https://developer.nvidia.com/embedded/learn/tutorials/jetson-container
https://www.forecr.io/blogs/installation/how-to-install-and-run-docker-on-jetson-nano

https://developer.nvidia.com/embedded/l4t/r32_release_v7.1/jp_4.6.1_b110_sd_card/jeston_nano/jetson-nano-jp461-sd-card-image.zip

[thanhtruongphan]

oh, docker also new for me ...
however worth to try...huh

🥇

[hippo5329]

https://github.com/DominikN/ros2_docker_example

[hippo5329]

https://github.com/Qengineering/Jetson-Nano-image
I've tried this image before. login jetson jetson

https://github.com/jetsonhacks/bootFromUSB
I've also tried this.. Much faster than SD.

https://github.com/Qengineering/Jetson-Nano-Ubuntu-20-image
seem popular, but I don't remember if I tried this

https://kalanaratnayake.medium.com/reviving-jetson-nano-with-ubuntu-20-04-2dc1f82b18f4

[hippo5329]

You can use either docker or lxd. docker is is easier to share and more popular. There are official ros2 docker images.

https://roboticseabass.com/2023/07/09/updated-guide-docker-and-ros2/

https://docs.ros.org/en/jazzy/How-To-Guides/Run-2-nodes-in-single-or-separate-docker-containers.html

https://hub.docker.com/_/ros/

https://docs.ros.org/en/iron/How-To-Guides/Setup-ROS-2-with-VSCode-and-Docker-Container.html

https://github.com/DominikN/ros2_docker_examples

https://divyanshu-raj.medium.com/ros-2-with-docker-part-1-9060f3095811

I use lxd heavily for many years.
sudo snap install lxd --channel=latest/stable

https://documentation.ubuntu.com/lxd/en/latest/tutorial/first_steps/
https://artivis.github.io/post/2022/ros2-humble/
https://dev.to/tsadarsh/lxd-for-runing-different-ros2-versions-362d

[thanhtruongphan]

thank you! 💯

all the links are helpful for me. 👍
because Docker is popular and many guideline use Docker (ex. https://forums.developer.nvidia.com/t/ros2-and-ubuntu-22-on-jetson-nano-developer-kit/280470)
,so I'll use it for start.

[hippo5329]

You should update to Jazzy. Most humble example code will work.

[thanhtruongphan]

It's late. G9. See you.

[thanhtruongphan]

alright!~ @hippo5329

I've done with ROS2-humble on my Jetson nano devkit and test simple
**ros2 run demo_nodes_cpp talker/listener**, it's OK.

I also have learned a lot of command lines with Docker and now I realize that I just need to:

sudo docker run -it ...

sudo docker stop/start

sudo exec...

😸
that's fine.

I'll wiring up everything together, and then
please help me with esp32 tomorrow morning. 🥇
-thank you-

[thanhtruongphan]

I also bought an ESP32 and ASM1117 regulator to 3.3V for encoder.
I'll follow up your instructions above and here is my components:

• esp32​
  https://nshopvn.com/product/kit-rf-thu-phat-wifi-bluetooth-esp32/?variant=134223​
  ​
• mpu6050 (GY-521)​
  https://hshop.vn/cam-bien-6-dof-bac-tu-do-gy-521-mpu6050​
  ​
• Bestep L298​
  https://hshop.vn/mach-dieu-khien-dong-co-dc-l298-1​
  ​
• Motor with incremental hall encoder​
  https://www.thegioiic.com/bo-dong-co-giam-toc-ga25-370-12vdc-encoder-gan-banh-xe-truc-4mm-130rpm​

Ps: It has 130rpm max, ​

And 11 pulses encoder, gearbox-ratio 45:1​

So number of pulses after gearbox with quadrature encoder x4 will be : 11x45x4 = 1980 ppr​
​

• Pack 18650 pin 3s7p (12.6V output max and 9V while low batteries) ​
  -> to a regulator 12V for two motors and​

-> regulator 5V for JetsonNano​
​

• Lidar A1M8​
  ​

• Jetson nano devkit with ROS2-humble container​
  ​

[thanhtruongphan]

now, without Raspi, use Jetson instead, so esp32 will do with base-controller and Jetson like a PC, I think it's same with your robot now, right?
so I'll need some change to do with l298 and a1m8. I can't do it without you haha

[hippo5329]

And 11 pulses encoder, gearbox-ratio 45:1​

So number of pulses after gearbox with quadrature encoder x4 will be : 11x45x4 = 1980 ppr​ ​

11x45 = 495

[hippo5329]

andino looks good.

[thanhtruongphan]

yeah, right.

Okay, time to go to bed. so, see you.

[hippo5329]

docker compose build
docker compose up -d webtop
export DISPLAY=:200; docker compose up rviz

rviz works now.

[thanhtruongphan]

oh,
I retest on laptop, it's ok

Then I

docker compose build
docker compose up -d webtop
export DISPLAY=:200; docker compose up rviz

no laser map.

then, I open Docker and rerun https://github.com/Slamtec/sllidar_ros2#run-sllidar_ros2
ps, docker run with:

sudo docker run -it --name ros-humble-container-esp32-2 \
-v /dev:/dev \
--privileged \
--runtime nvidia \
--network host \
--gpus all \
-e DISPLAY=$DISPLAY \
-e QT_X11_NO_MITSHM=1 \
-v /tmp/.X11-unix:/tmp/.X11-unix:rw \
-v $XAUTHORITY:/root/.Xauthority \
dustynv/ros:humble-desktop-l4t-r36.4.0

[thanhtruongphan]

when I tried on webtop

[hippo5329]

docker compose build
docker compose up -d webtop
export DISPLAY=:200; docker compose up rviz

rviz can be displayed. We want to verify the X11 to vnc work. But there is no laser scan, so it is blank. This is normal.

The linorobot2 docker compose contains many service containers, for webtop, bringup, slam, nav and rviz etc. They do not need l4t/cuda. Only vision/ml nodes need l4t/cuda image.

webtop can run some docker commands, but it does not have volumes mapped. You can docker compose up debug in jetson ubuntu. Then docker exec -it debug bash inside terminal in webtop.

[thanhtruongphan]

my 64gb sd card looks pretty small, it just got full, i deleted everything and reinstalled this container, docker pull dustynv/ros:humble-desktop-l4t-r36.4.0

about 14gb free now.

[thanhtruongphan]

oh now I know why you said that It's tricky with docker...hah

[thanhtruongphan]

oh, let's start over, so now the process to display lidar-sensor to Rviz will be:

• In jetson ubuntu, clone linorobot2.

• cd linorobot2/docker
  Edit .env, add your a1m8 to "LASER_SENSOR=a1".

• docker compose build

• docker compose up -d webtop

• export DISPLAY=:200; docker compose up rviz

rviz works now.

rviz can be displayed. We want to verify the X11 to vnc work. But there is no laser scan, so it is blank.
The linorobot2 docker compose contains many service containers, for webtop, bringup, slam, nav and rviz etc. They do not need l4t/cuda. Only vision/ml nodes need l4t/cuda image.

then, docker compose up debug in jetson ubuntu. Then docker exec -it debug bash inside terminal in webtop.

[hippo5329]

rviz-nav shows a map. hz /scan is 10, correct.

But bringup, esp32 connected, but no data published.
run micro ros agent alone, still no data. This is a problem.

[thanhtruongphan]

I did it

git clone -b pr-lidar https://github.com/hippo5329/linorobot2.git
cd linorobot2/docker
sudo docker compose build
sudo docker compose up -d webtop bringup navigate rviz-nav debug

sudo docker compose logs bringup

The current test uses build-in map.

then tried with localhost:3000 , right?

[hippo5329]

Error..

I am working on micro-ros issue. Will check this later.

[hippo5329]

You may proceed to build the robot and test_motors while I work on docker.

[thanhtruongphan]

yep!

[hippo5329]

The webtop error screen showed when webtop service down.

I switched to pico and it works now. I wonder if it is esp32 to usb serial ttyUSB0 docker driver issue.

cd linorobot2/docker
sudo docker compose build
sudo docker compose up -d webtop bringup debug navigate rviz-nav slam
... navigate in rviz
sudo docker compose up save-map
sudo docker compose down # will down all service containers

[thanhtruongphan]

about pico, I can have it https://www.thegioiic.com/products?search=pico

[hippo5329]

https://www.thegioiic.com/mach-raspberry-pi-pico-rp2040

[thanhtruongphan]

Thanks to you I am about to learn how to use another type of MCU 😅

[hippo5329]

I tested on my rpi5 4gb ubuntu24.04 docker to ubuntu 22.04 ros humble, and it always crashed after several minutes. It is fine on KVM PC.

[hippo5329]

Thanks to you I am about to learn how to use another type of MCU 😅

They are almost the same. pio run -e pico -t upload.
Please pull update from my linorobot2_hardware.

a1m8 lidar port is /dev/ttyUSB0
pico port is /dev/ttyACM0

Press and hold the "Boot" button on pico then plugin USB port for the first time program.

[hippo5329]

.env for pico

# Lidar Serial Port
LIDAR_SERIAL_PORT=/dev/ttyUSB0

# Base Serial Port
BASE_SERIAL_PORT=/dev/ttyACM0

[thanhtruongphan]

ah, tomorrow is weekend, have a nice weekend. 🦅
I will work with new pico, It'll takes a little time. Then I'll feedback with you

[thanhtruongphan]

cảm ơn bạn vì ngày hôm nay. 🥇

biết thế ngay từ đầu tôi dùng luôn Pico, mắc công bạn bỏ nhiều thời gian để fix bugs, ngại quá! haha

[hippo5329]

Sorry, I do not understand Vietnamese.

[thanhtruongphan]

just kidding...
I writed: thanks for today. 🥇 if i knew i would have used pico from the start, you would have spent so much time fixing bugs, so embarrassing! haha

[thanhtruongphan]

ah, @hippo5329 I done all wiring and test with new pico MCU.

now as you see, maybe the localhost:3000 works well.
but i really don't know how to use it next haha help me too, pls

[HaiHai-17]

I am encountering this error while running the simulation in Gazebo, and I haven't made any adjustments to the code. Can you help me

[hippo5329]

What kind of robot do you build? What is your configuration? Please follow my wiki. Step by step. Do not change the linorbot2 urdf etc.

https://github.com/hippo5329/linorobot2_hardware/wiki

[HaiHai-17]

I've constructed a Mecanum robot incorporating a Raspberry Pi 4, ESP32, MPU6050, L298N, and YDLidar. All components function as expected, however, upon executing the slam_toolbox_ package, I'm encountering the error depicted in the accompanying image. This issue persists regardless of whether I utilize a custom URDF or the sample URDF you've supplied.

[HaiHai-17]

I have followed the wiki steps multiple times but always get stuck at running the slam_toolbox package. This has been going on for a week and I haven't found a solution yet.

[hippo5329]

Good. Check the /scan hz. Run a lidar view test to make sure the lidar work.

[hippo5329]

Please start a new issue. It will be easier to follow.

[hippo5329]

Good. Let's start over.

There is no need to connect monitor and keyboard to jetson/rpi. As jestson/rpi will be mounted on the robot. You cannot keep running with the robot moving. You should use ssh and remote development.

To debug, up only bringup. Check the topic and hz with another ros docker. Make sure /scan is 10Hz and /imu/data is 50Hz

[thanhtruongphan]

Good. Check the /scan hz. Run a lidar view test to make sure the lidar work.

@hippo5329 your mean: do it https://github.com/Slamtec/sllidar_ros2 in my ros2-docker-container, right?

[thanhtruongphan]

so, I try replace to USB1, then re-compose up, then re-docker humble, then check topic:

[hippo5329]

If you want to see /dev/tty* in docker , you need to map /dev .

-v /dev:/dev --privileged

[hippo5329]

ttyUSB1 won't persist after power cycle. It will become ttyUSB0 after reset. scan 7Hz is fine.

[thanhtruongphan]

[hippo5329]

You may proceed to navigate.

[thanhtruongphan]

oh, @hippo5329 I proceed it, right https://github.com/hippo5329/linorobot2/tree/pr-lidar#31-run-rviz2-to-visualize-the-robot-from-host-machine

[hippo5329]

I think you should not run browser and vscode ide in jetson. They take up memory. Jetson has only 4GB memory. It is quite limited. You should even disable the gui on jetson. I had suggested ssh and remote development. It has a reason.

[thanhtruongphan]

no I don't use VScode in Jetson. I just use ssh-remote-Jetson on VScode, and I've switch to browser on laptop ubuntu

[hippo5329]

Good.
But I saw it is localhost:3000 webtop.

[thanhtruongphan]

haha yah, I've just switched to when you ask me.

[thanhtruongphan]

I off now. @hippo5329 Thank you for today.
enjoy your weekend!
I continue tomorrow

[thanhtruongphan]

so fun @hippo5329 , after I down, then run 1 time, it fixing one thing, now lidar has been showed up

[thanhtruongphan]

I saved a map

how I do next...

[thanhtruongphan]

ah I see, I need to mount lidar and jetson to robot

[thanhtruongphan]

for Nav

[thanhtruongphan]

so weird, @hippo5329 the address of map.save in '/root/linorobot2_ws/src/linorobot2/linorobot2_navigation/maps/map' but my folder ```linorobot2_ws/src is empty.

I checked and realized that the new map is saved in ~/linorobot2/linorobot2_navigation/maps/map.png (I deleted it and then use command line sudo docker compose up save-map)

but It doesn't the map in use

[thanhtruongphan]

@hippo5329 Shingles came on when I was staying up all night or something, so I went to bed on time today. 😄

[hippo5329]

It seem the vol mapping does not work.

    volumes:
      - /tmp/.X11-unix:/tmp/.X11-unix:rw
      - $HOME/.Xauthority:/root/.Xauthority
      - ../linorobot2_navigation/maps:/root/linorobot2_ws/src/linorobot2/linorobot2_navigation/maps:rw)

We will need to look into this.

[hippo5329]

You may try update the map and build again.

[hippo5329]

Take care. If you got Shingles,you should see a doctor and have special anti-virus medicine in 72 hours. This is important. In some cases, the pain may last life long. No kidding.

[thanhtruongphan]

Here is my bot now hihi

This bot move quite good.
I was surprised by the smooth, quiet and almost silent movement of the motor (probably because of the 20kHz frequency) only the Jetson and Lidar's cooling fan was a bit noisy.

And another thing is that my Bot's movement doesn't match the mapping. I guess I need to do some configure with the hardware code.

However, do you have any further suggestions?

[hippo5329]

You should run test_acc to find out the max acc and max speed. If you can find a tachometer, you should verify the rpm in test_motors.

[thanhtruongphan]

Take care. If you got Shingles,you should see a doctor and have special anti-virus medicine in 72 hours. This is important. In some cases, the pain may last life long. No kidding.

yah, yes, i heard that shingles can follow me for life. The first time was 5 months ago, I got it in the middle of my forehead, eyelids and on my right arm. It was so swollen that I couldn't open my eyes for the first few days. It was quite funny because it looked like a Buddha stung by a bee with a red dot in the middle of my forehead and swollen eyes. I got it after a long stressful day with some work, and the day before that I was traveling on an unstable bus and I had a bad headache, 2 days later I got it. It lasted about 10 days and then healed. In my hometown, people get it a lot so they have experience with traditional folk remedies. My mother used a medicine made of some special leaves + coarse salt (sea salt) crushed into a thick paste and then applied to the wound. Now I live in the city and don't have those things, but it will be fine if I maintain a healthy lifestyle.

Thanks so much for your advice. I really appreciate it. 🥇

[hippo5329]

The virus infects nerve cells. You should get anti-virus medicine.

[hippo5329]

#define MOTOR_MAX_RPM 150 // motor's max RPM
#define MAX_RPM_RATIO 0.85 // max RPM allowed for each MAX_RPM_ALLOWED = MOTOR_MAX_RPM * MAX_RPM_RATIO
#define MOTOR_OPERATING_VOLTAGE 12 // motor's operating voltage (used to calculate max RPM)
#define MOTOR_POWER_MAX_VOLTAGE 12 // max voltage of the motor's power source (used to calculate max RPM)
#define MOTOR_POWER_MEASURED_VOLTAGE 12 // current voltage reading of the power connected to the motor (used for calibration)
#define COUNTS_PER_REV1 450 // wheel1 encoder's no of ticks per rev
#define COUNTS_PER_REV2 450 // wheel2 encoder's no of ticks per rev
#define COUNTS_PER_REV3 450 // wheel3 encoder's no of ticks per rev
#define COUNTS_PER_REV4 450 // wheel4 encoder's no of ticks per rev
#define WHEEL_DIAMETER 0.0560 // wheel's diameter in meters
#define LR_WHEELS_DISTANCE 0.224 // distance between left and right wheels

[hippo5329]

You should adjust the above parameters to your.

[hippo5329]

Make sure the imu and lidar are in correct orientation.

https://github.com/hippo5329/linorobot2_hardware/wiki#test-the-robot-at-maximum-velocity-and-acceleration-with-full-load

https://github.com/hippo5329/linorobot2_hardware/wiki#configure-urdf-in-linorobot2

https://github.com/hippo5329/linorobot2_hardware/wiki#velocity-smoother---optional

You can describe your problem in more details. Or take videos.

[thanhtruongphan]

I did all your instructions, test full load, configure urdf, especially reconfig encoder-sticks. In case of mine, my motor has a incremental hall encoder 11 pulses, gear ratio 45:1, so one wheel (after gear box) will be 11* 45=495. But maybe the code use mode x2, so my encoder_ticks/per_wheel = 495 *2=990.

I've tested with these, and now it run quite good. It can navigate to goal with capacity avoid obstacle. and yah. Very interesting. haha
here is my map that I've tested.

here is an problem before I configured.

have a good day, @hippo5329 🥇

[hippo5329]

Very good.