This application note describes steps required to launch LIDAR-based navigation and SLAM on iRobot Create3 with NavQPlus used as a compute board.
The application note assumes that the necessary hardware and software setup is done. See Related Topics for AN on how to perform the setup.
Put your robot on the floor, make sure there are no dangling wires that could damage the robot or the NavQPlus board during the movements.
Launching SLAM/Navigation Stack
Use the following sequence to launch the ROS2 navigation stack on NavQPlus.
Start the Teminal application to open a terminal window.
Log in to the NavQPlus console:
Make sure USB port #1 is in the host mode:
sudo sh -c 'echo host > /sys/kernel/debug/usb/38100000.usb/mode' && lsusb
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.
Keep the terminal window open for the period of navigation.
Launching SLAM/Navigation Stack with PMD Flexx2 Camera
By default navigation stack does not start the ToF camera node, thus resorting to LIDAR-only navigation and SLAM. However, enabling of the ToF Camera nodes allows for enhanced object avoidance during navigation because the camera input “sees” small objects in front of the robot which lie below the LIDAR scan plane.
To start the ROS2 navigation stack with the enabled ToF camera node, perform steps from Launching SLAM/Navigation Stack with replacing of the start navigation stack command with the following one:
Keep 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: