Siddharth Saha | Rough work

Tasks

Notes

Design decisions
- Foxy RADI uses several files from the noetic branch of RoboticsAcademy. I will commit my modifications on my fork of the RoboticsAcademy repo, instead of to the collab repo.
  This will enable future developers to trace back the history of unchanged files.
- Deleted Noetic Dockerfile and pushed it too, but realized useful for version control. Retrieved using this
- Using logical paths instead of absolute in shebangs as mentioned in this StackOverflow post
- Clean up aws-robomaker-small-warehouse world if time permits. Extremely haphazard at the moment. Currently uses the ros1 branch with pallets replaced in the world. Either don’t keep it as a git sub-module or use a specific commit from the ros2 branch. The latter isn’t possible as the pallets need to be replaced. Best to imbibe the world completely as a package under CustomRobots.
Tips
- Remember to git submodule update --init --recursive!!
- Re-sourcing not needed after colcon build
- colcon build!! after modifying world file
- export RCUTILS_COLORIZED_OUTPUT=1 # Forcing colorization
- export RCUTILS_CONSOLE_OUTPUT_FORMAT="[{severity} {time}] [{name}]: {message} ({function_name}() at {file_name}:{line_number})"
Consider
- Avoid the rsync mess in my Dockerfile
- Rviz config based window sizing can break when the browser size is small
- I could add timer in the utilities bar at the top
- The modified urdf might cause problems during slam
- Cloning –single-branch in Dockerfile might reduce size
Learnt
- “{goal}” is a blackboard variable
- HAL: Hardware Abstraction Layer
- DISPLAY=:0 ros2 launch turtlebot3_bringup rviz2.launch.py: Reference
- Hopefully won’t require to refer this- roslaunch_cmd = '/bin/sh -c "export PWD="/";chmod +rwx /;export DISPLAY=:0;'
- Service calls to pause/unpause/reset: ROS2 Migration
- <ClearEntireCostmap name="ClearGlobalCostmap-Context" service_name="global_costmap/clear_entirely_global_costmap"/> only removes the additional observed obstacles. It is unable to remove/modify anything corresponding to input map.
- Can add inflation_radius below plugin: "nav2_costmap_2d::InflationLayer"
- Update git submodules to latest commit ID: git submodule update --recursive --remote
- For each DeclareLaunchArgument() there exists a LaunchConfiguration(), which allows the launch variable’s value to be used inside the python launch file
- Learnt about lambda functions

TODO’s commented inside code

build.sh
Dockerfile-foxy
Dockerfile-foxy.base

Questions

Why was the older JdeRobot GUI controller dropped?
What does an architecture look like?
Inside nav2_params_with_control.yaml, how does ROS2 know the paths of the file names? Answer: It doesn’t. E.g., remove the default_bt_xml_filename parameter from launch file, then bt_navigator will only work if full path of default_bt_xml_filename is entered in nav2_params_with_control.yaml (Terminal output in GSoC logs)
In colcon, what are DCMAKE_BUILD_TYPE and similar flags?
turtlebot3_world.launch.py uses gzserver.launch.py and gzserver.launch.py. Is it any different from the start_gazebo_server_cmd and start_gazebo_client_cmd used in amazon_robot_in_aws_world.py?
declare_simulator_cmd and headless argument unused in amazon_robot_in_aws_world.py. It seems to have been over-ridden?
Where did slam_toolbox in /opt/ros/foxy/lib come from? Answer: Each of “ros-foxy-nav2-bringup ros-foxy-slam-toolbox ros-foxy-turtlebot3 ros-foxy-turtlebot3-navigation2” get installed together

General questions

what is bringup?
- Reference: The Turtlebot Bringup package contains all the neccesary configuration and launch files for loading the Turtlebot drivers.
- Must be on similar lines

ROS2 Doubts

Build farm
- Bloom: Used both in ROS1 and ROS2
- a bunch of build servers (CI server that runs the builds and automated tests)
plugins vs nodes in ROS2
- Nodes: Vertices in the behavior tree
- Plugins: Functionalities that can be linked to the node
node plugins
- We create node plugins which can be constructed into a tree, inside the BT Navigator. The node plugins are loaded into the BT and when the XML file of the tree is parsed, the registered names are associated.
interfaces
- Refers to message, service, action files
mixins in colcon
- Mixins can be used by several verbs to contribute command line arguments defined in external files.

Resources to read

https://github.com/mlherd/navigation2/tree/new-tutorials/doc/tb3_tutorial
https://github.com/osrf/subt_hello_world/blob/master/posts/04_navigation.md

Possible things to play with

https://github.com/SteveMacenski/nav2_rosdevday_2021
https://github.com/aws-robotics/aws-robomaker-hospital-world
https://github.com/aws-robotics/aws-robomaker-small-warehouse-world
https://github.com/sea-bass/turtlebot3_behavior_demos
https://mushr.io/tutorials/mushr_navigation_system/
https://github.com/BehaviorTree/Groot
https://github.com/osrf/subt_hello_world/
https://github.com/vmayoral/basic_reinforcement_learning/blob/master/tutorial7/README.md

Others

https://github.com/AndrejOrsula/drl_grasping
http://moveit2_tutorials.picknik.ai/doc/getting_started/getting_started.html

RADI 2.4.0-beta

docker run -it --rm -p 8000:8000 -p 2303:2303 -p 1905:1905 -p 8765:8765 -p 6080:6080 -p 1108:1108 jderobot/robotics-academy:2.4.0-beta bash

RADI 2.4.2

docker run -it --rm -p 8000:8000 -p 2303:2303 -p 1905:1905 -p 8765:8765 -p 6080:6080 -p 1108:1108 jderobot/robotics-academy:2.4.2 ./start.sh

(Locally built docker container)
docker run -it --rm -p 8000:8000 -p 2303:2303 -p 1905:1905 -p 8765:8765 -p 6080:6080 -p 1108:1108 jderobot/robotics-academy:melodic-radi ./start.sh

Note: Argument --device /dev/dri is for Intel and AMD hardwares

RADI 3.1.0

docker run -it --rm -p 8000:8000 -p 2303:2303 -p 1905:1905 -p 8765:8765 -p 6080:6080 -p 1108:1108 jderobot/robotics-academy:3.1.0 ./start-3.1.sh

RADI 3.1.0 (Locally built)

docker run -it --rm -p 8000:8000 -p 2303:2303 -p 1905:1905 -p 8765:8765 -p 6080:6080 -p 1108:1108 noetic-radi ./start-3.1.sh

Melodic manager.py

docker run -it \
      --rm \
      --name=jde_container \
      -p 8080:8080 -p 7681:7681 -p 2303:2303 -p 1905:1905 -p 8765:8765 -p 6080:6080 -p 1108:1108 \
      -v /home/trunc8/villa/Basement/Playground/JDE_playground/RoboticsAcademy:/RoboticsAcademy \
      jde_image python3.8 manager.py

Noetic manager-noetic.py

docker run -it \
      --rm \
      --name=noetic_jde_container \
      -p 8080:8080 -p 7681:7681 -p 2303:2303 -p 1905:1905 -p 8765:8765 -p 6080:6080 -p 1108:1108 \
      -v /home/trunc8/villa/Basement/Playground/JDE_playground/RoboticsAcademy:/RoboticsAcademy \
      -v /home/trunc8/villa/Basement/Playground/JDE_playground/RoboticsAcademy/scripts/manager-noetic.py:/manager-noetic.py \
      noetic_jde_image python3.8 manager-noetic.py

Noetic bash

docker run -it \
      --rm \
      --name=noetic_jde_container \
      -p 8080:8080 -p 7681:7681 -p 2303:2303 -p 1905:1905 -p 8765:8765 -p 6080:6080 -p 1108:1108 \
      -v /home/trunc8/villa/Basement/Playground/JDE_playground/RoboticsAcademy:/RoboticsAcademy \
      -v /home/trunc8/villa/Basement/Playground/JDE_playground/RoboticsAcademy/scripts/manager-noetic.py:/manager-noetic.py \
      noetic_jde_image bash

Noetic no mounting

docker run -it \
      --rm \
      --name=noetic_jde_container \
      -p 8080:8080 -p 7681:7681 -p 2303:2303 -p 1905:1905 -p 8765:8765 -p 6080:6080 -p 1108:1108 \
      noetic_jde_image python3.8 manager-noetic.py

Noetic RADI 3.1.0 (with mounting)

docker run -it \
      --rm \
      -p 8000:8000 -p 2303:2303 -p 1905:1905 -p 8765:8765 -p 6080:6080 -p 1108:1108 \
      -v /home/trunc8/villa/Basement/Playground/JDE_playground/myRoboticsAcademy/exercises/static/exercises/follow_line:/RoboticsAcademy/exercises/follow_line \
      -v /home/trunc8/villa/Basement/Playground/JDE_playground/myRoboticsAcademy/exercises/templates:/RoboticsAcademy/exercises/templates \
      -v /home/trunc8/villa/Basement/Playground/JDE_playground/myRoboticsAcademy/scripts/manager-3.1.py:/manager-3.1.py \
      noetic-radi ./start-3.1.sh

Noetic RADI 3.1.0 (no mounting)

docker run -it \
      --rm \
      -p 8000:8000 -p 2303:2303 -p 1905:1905 -p 8765:8765 -p 6080:6080 -p 1108:1108 \
      noetic-radi ./start-3.1.sh

Foxy (with mounting)

docker run -it \
      --rm \
      --name foxy_radi_container \
      -v /home/trunc8/villa/Basement/Playground/JDE_playground/myRoboticsAcademy:/RoboticsAcademy \
      -p 8000:8000 -p 2303:2303 -p 1905:1905 -p 8765:8765 -p 6080:6080 -p 1108:1108 \
      foxy-radi bash

Foxy (with privileged)

docker run -it \
      --rm \
      --net=host \
      --privileged \
      --name foxy_radi_container \
      --gpus all \
      -e DISPLAY \
      -e XAUTHORITY=/tmp/.Xauthority \
      -v ${XAUTHORITY}:/tmp/.Xauthority \
      -v /tmp/.X11-unix:/tmp/.X11-unix \
      -v /home/trunc8/villa/Basement/Playground/JDE_playground/myRoboticsAcademy:/RoboticsAcademy \
      -v /home/trunc8/villa/Basement/Playground/JDE_playground/.gazebo:/root/.gazebo \
      -p 8000:8000 -p 2303:2303 -p 1905:1905 -p 8765:8765 -p 6080:6080 -p 1108:1108 \
      foxy-radi bash


cd /RoboticsAcademy/scripts && ./start.sh

Foxy (4.0.0)

docker run -it \
      --rm \
      -v /tmp/.X11-unix:/tmp/.X11-unix \
      --name foxy_radi_container \
      -p 8000:8000 -p 2303:2303 -p 1905:1905 -p 8765:8765 -p 6080:6080 -p 1108:1108 \
      jderobot/robotics-academy:4.0.0 ./start.sh

Foxy (4.1.0)

docker run -it \
      --rm \
      -v /tmp/.X11-unix:/tmp/.X11-unix \
      --name foxy_radi_container \
      -p 8000:8000 -p 2303:2303 -p 1905:1905 -p 8765:8765 -p 6080:6080 -p 6081:6081 -p 1108:1108 \
      jderobot/robotics-academy:4.1.0 ./start.sh

Foxy (4.2.0)

docker run -it \
      --rm \
      -v /tmp/.X11-unix:/tmp/.X11-unix \
      --name foxy_radi_container \
      -p 8000:8000 -p 2303:2303 -p 1905:1905 -p 8765:8765 -p 6080:6080 -p 6081:6081 -p 1108:1108 \
      jderobot/robotics-academy:4.2.0 ./start.sh

Developer’s commands (Some are antiquated)

docker run -it \
      --rm \
      --name=noetic_jde_container \
      -p 8080:8080 -p 7681:7681 -p 2303:2303 -p 1905:1905 -p 8765:8765 -p 6080:6080 -p 1108:1108 \
      -v /home/trunc8/villa/Basement/Playground/JDE_playground/RoboticsAcademy:/RoboticsAcademy \
      -v /home/trunc8/villa/Basement/Playground/JDE_playground/RoboticsAcademy/scripts/manager-noetic.py:/manager-noetic.py \
      noetic_jde_image bash
docker exec -it noetic_jde_container bash

xserver_cmd

/usr/bin/Xorg -noreset +extension GLX +extension RANDR +extension RENDER -logfile ./xdummy.log -config ./xorg.conf :0

console_xserver_cmd

/usr/bin/Xorg -noreset +extension GLX +extension RANDR +extension RENDER -logfile ./console_xdummy.log -config ./xorg.conf :1

host_cmd

python3 /RoboticsAcademy/exercises/follow_line/web-template/exercise-noetic.py 0.0.0.0

roslaunch_cmd

/opt/ros/noetic/bin/roslaunch ./RoboticsAcademy/exercises/follow_line/web-template/launch/simple_line_follower_ros_headless.launch

start_vnc (for gzclient)

x11vnc -display :0 -nopw -forever -xkb -bg -rfbport 5900
/noVNC/utils/launch.sh --listen 6080 --vnc localhost:5900

start_vnc (for console)

x11vnc -display :1 -nopw -forever -xkb -bg -rfbport 5901
/noVNC/utils/launch.sh --listen 1108 --vnc localhost:5901

start_gzclient

export DISPLAY=:0; gzclient --verbose

start_console

export DISPLAY=:1; xterm -geometry 400x400 -fa 'Monospace' -fs 10 -bg black -fg white

Modifications

slam_toolbox

config/mapper_params_online_sync.yaml

    map_file_name: amazon_15m_map
    #map_start_pose: [0.0, 0.0, 0.0]
    map_start_at_dock: true

amazon_robot_bringup

launch/slam_launch.py

    start_map_saver_server_cmd = Node(
            package='nav2_map_server',
            executable='map_saver_server',
            output='screen',
            parameters=[configured_params])

    start_lifecycle_manager_cmd = Node(
            package='nav2_lifecycle_manager',
            executable='lifecycle_manager',
            name='lifecycle_manager_slam',
            output='screen',
            parameters=[{'use_sim_time': use_sim_time},
                        {'autostart': autostart},
                        {'node_names': lifecycle_nodes}])

launch/bringup_launch.py

Added UnlessCondition

launch/amazon_robot_in_aws_world.py

Enable SLAM

    declare_slam_cmd = DeclareLaunchArgument(
        'slam',
        default_value='True',
        description='Whether run a SLAM')

For robot description warning: robot_description_ref

    with open(urdf, 'r') as infp:
        robot_desc = infp.read()

    start_robot_state_publisher_cmd = Node(
        condition=IfCondition(use_robot_state_pub),
        package='robot_state_publisher',
        executable='robot_state_publisher',
        name='robot_state_publisher',
        namespace=namespace,
        output='screen',
        parameters=[{'use_sim_time': use_sim_time, 'robot_description': robot_desc}],
        remappings=remappings,
        arguments=[urdf])

To fix oscillating robot problem

                                    'z_pose': '0.5',