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Overview
This application note describes step steps required to launch lidarLIDAR-based navigation and SLAM on iRobot Create3 with NavQPlus used as a compute board.
Preparation
The application note assume the following preparation steps are concluded:
Setup Linux Host for Running Rviz assumes that the necessary hardware and software setup is done. See RelatedTopics for AN on how to perform the setup.
Preparation
Put your robot on a level surfacethe floor, make sure there are no dangling wires that could damage the robot or the NavQPlus board during the movements.
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Use the following sequence to launch the ROS2 navigation stack on NavQPlus.
Start Teminal application to open a terminal window.
Log in to the NavQPlus console:
Code Block ssh user@<navqplus-ip>
Make sure USB1 USB port #1 is in the host mode:
Code Block sudo sh -c 'echo host > /sys/kernel/debug/usb/38100000.usb/mode' && lsusb
Output:
Code Block Bus 002 Device 002: ID 0451:8140 Texas Instruments, Inc. TUSB8041 4-Port Hub Bus 002 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub Bus 001 Device 005: ID 2109:0101 VIA Labs, Inc. USB 2.0 BILLBOARD Bus 001 Device 004: ID 05e3:0608 Genesys Logic, Inc. Hub Bus 001 Device 003: ID 10c4:ea60 Silicon Labs CP210x UART Bridge Bus 001 Device 002: ID 0451:8142 Texas Instruments, Inc. TUSB8041 4-Port Hub Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
Place the robot on the initial place outside the charging base.
Start the ROS2 navigation applicationsstack:
Code Block /opt/ros/humble/share/create3_slam_launch/scripts/start_slam -b
Leave Keep the terminal window open with the application runningfor the period of navigation.
Launching SLAM/Navigation Stack with PMD camera
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Perform steps in Launching SLAM/Navigation Stack
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with replacing of the start navigation
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stack command to:
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/opt/ros/humble/share/create3_slam_launch/scripts/start_slam -b -p |
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Perform the steps below on your Desktop PC:
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Restart chrony service:
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sudo systemctl restart chrony |
(Use your Desktop PC password.)
Set up cyclonedds as default RMW:
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Start Teminal application to open a new terminal window.
Start Rviz by typing the following command:
Code Block RMW_IMPLEMENTATION="rmw_cyclonedds_cpp" /opt/ros/humble/share/create3_slam_launch/scripts/start_rvizKeep the terminal window opened for the period of navigation..
Rviz flat mode
The flat mode allows seeing top view of the robot on the map as compared to the isometric projection in the default configuration. Moreover, the flat mode configuration allows showing the navigation paths as they being computed by the navigation stack which may help debugging navigation issues.
For activating the flat mode proceed with steps from Launching Rviz with replacing the start command with the following one:
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RMW_IMPLEMENTATION="rmw_cyclonedds_cpp" |
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Start Rviz:
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/opt/ros/humble/share/create3_slam_launch/scripts/start_rviz -flat |
The result of flat mode launch would look similar to the screen shot below.
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Setting Movement Goals in Rviz
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Launching Rviz (flat mode)
Flat mode allows seeing top view of the robot on the map as compared to the isometric projection in the normal mode. Moreover, the flat mode configuration allows showing the navigation paths as they being computed by the navigation stack which may help debugging navigation issues.
Performs steps 1-4 from Launching Rviz
Start Rviz:
Code Block /opt/ros/humble/share/create3_slam_launch/scripts/start_rviz -flat
The result of flat mode launch is shown on the screen shot below.
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