Autonomous Pizza Delivery

Wait no more. Help me with this project and get your pizza delivered in the upcoming years.

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Introduction

The goal of this project is to do autonomous pizza deliveries from a simple user interface. The system needs to work both outdoors and indoor since my local pizzeria is situated inside a shopping center. Further, it has to plan the path, follow the path, avoid obstacles, and order the pizza upon arrival. To accomplish that in a safe way, video feed to the user is needed and the possibility to manually take control when the robot misbehaves.

Build and Test

ROS2 Humble Humble docs

To use ROS2 Humble Ubuntu 22.04 is strongly recomended.

Set locale

Make sure you have a locale which supports UTF-8. If you are in a minimal environment (such as a docker container), the locale may be something minimal like POSIX. We test with the following settings. However, it should be fine if you’re using a different UTF-8 supported locale.

locale  # check for UTF-8
sudo apt update && sudo apt install locales
sudo locale-gen en_US en_US.UTF-8
sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
export LANG=en_US.UTF-8

locale  # verify settings

Setup Sources

You will need to add the ROS 2 apt repository to your system. First ensure that the Ubuntu Universe repository is enabled. sudo apt install software-properties-common && sudo add-apt-repository universe

Now add the ROS 2 GPG key with apt.

sudo apt update && sudo apt install curl -y
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg

Then add the repository to your sources list.

echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null

Install ROS 2 packages

Update your apt repository caches after setting up the repositories.

sudo apt update

ROS 2 packages are built on frequently updated Ubuntu systems. It is always recommended that you ensure your system is up to date before installing new packages.

sudo apt upgrade

Desktop Install (Recommended): ROS, RViz, demos, tutorials.

sudo apt install ros-humble-desktop

ROS-Base Install (Bare Bones): Communication libraries, message packages, command line tools. No GUI tools. This can be efficent on the robot for added performace.

sudo apt install ros-humble-ros-base

Development tools: Compilers and other tools to build ROS packages

sudo apt install ros-dev-tools

Nav2 Nav2 docs.

The NAV2 packages can be installed as binary or from source.

sudo apt install ros-humble-navigation2
sudo apt install ros-humble-nav2-bringup

SLAM slam_toolbox

For the localization and mapping SLAM is used.

sudo apt install ros-humble-slam-toolbox

Other packages and dependencies

sudo apt-get install libserial-dev
sudo apt install python3-serial
sudo apt install ros-humble-ros2-control ros-humble-ros2-controllers ros-humble-gazebo-ros2-control
sudo apt install joystick jstest-gtk evtest
sudo apt-get install ros-humble-twist-mux
sudo apt-get install ros-humble-rosbridge-suite
sudo apt install ros-humble-robot-localization
sudo apt-get install ros-humble-velodyne
pip install setuptools==58.2.0

Environment setup

Sourcing the setup script in bash

source /opt/ros/humble/setup.bash
source /home/<user>/<path>/install/setup.bash

Alias

To easier work with ssh these aliases is used on the robot

alias bridge='ros2 launch rosbridge_server rosbridge_websocket_launch.xml'
alias sensor='ros2 launch elcore_autonomous imu_encoder_lidar.launch.py'
alias start='ros2 launch auto_gpr bringup.launch.py'
alias gpr_trigger='ros2 run gpr_trigger listener'

and these on the remote machine:

alias robot='ssh <user>@<ip>'
alias corc='scp <user>@<ip>:/home/<user>/p_r_0001.corc'

This will make it possible to ssh to the robot writing the "robot" and get the .corc writing corc. (Use keygen to remove the password for the ssh)

Build the project

git clone https://github.com/ketill1/PizzaDelivery.git

At the root of your workspace:

colcon build --symlink-install && source install/setup.bash

Robot setup

To be able to controll the robot remotely websocket is used to send mesages for the start up, turn off and various navigation task. The websocket is started on boot of the robot together with a node controlling subprocesses from boolean service calls.

The three processes that start on boot

sudo vim /etc/systemd/system/ros2node1.service

[Unit]
Description=Start ROS2 Node
After=network.target

[Service]
ExecStart=/bin/bash -c 'source /opt/ros/humble/setup.bash; ros2 launch rosbridge_server rosbridge_websocket_launch.xml'
User=ggeo
Environment="DISPLAY=:0"
Environment="XAUTHORITY=/run/user/1000/gdm/Xauthority"
Restart=always

[Install]
Wa`tedBy=multi-user.target

sudo systemctl enable ros2node1.service
sudo systemctl start ros2node1.service

sudo vim /etc/systemd/system/ros2node2.service

[Unit]
Description=Start ROS2 Node
After=network.target

[Service]
ExecStart=/bin/bash -c 'source /opt/ros/humble/setup.bash; source /home/<user>/<path_to_project>/install/setup.bash; ros2 run remote_node_launcher robotClient'
User=ggeo
Environment="DISPLAY=:0"
Environment="XAUTHORITY=/run/user/1000/gdm/Xauthority"
Restart=always

[Install]
WantedBy=multi-user.target

sudo systemctl enable ros2node2.service
sudo systemctl start ros2node2.service

sudo vim /etc/systemd/system/ros2node3.service

[Unit]
Description=Start ROS2 Node
After=network.target

[Service]
ExecStart=/bin/bash -c 'source /opt/ros/humble/setup.bash; source /home/<user>/<path_to_project>/install/setup.bash; ros2 run remote_node_launcher navigationClient'
User=ggeo
Environment="DISPLAY=:0"
Environment="XAUTHORITY=/run/user/1000/gdm/Xauthority"
Restart=always

[Install]
WantedBy=multi-user.target

sudo systemctl enable ros2node3.service
sudo systemctl start ros2node3.service

USB

To get all the devices has to commuicate with the right driver the USB port names is static. This will change depending on the harware setup

PORT Forwarding: cd /etc/udev/rules.d sudo vim usb.rules

Give the USB port names:

SUBSYSTEM=="tty",ENV{ID_PATH}=="pci-0000:00:14.0-usb-0:3:1.0",SYMLINK+="arduino"
SUBSYSTEM=="tty",ENV{ID_PATH}=="pci-0000:00:14.0-usb-0:7:1.0",SYMLINK+="IMU"
SUBSYSTEM=="tty",ENV{ID_PATH}=="pci-0000:00:14.0-usb-0:5.1:1.0",SYMLINK+="lidar"

After "usb-" is the hardware path to the port in the machine. (Different for each device!) cd /dev/serial/by-path && ls -la to find the path

Network

To enable the autostart of the mobile hotspot on the NUC, first enter: cd /etc/NetworkManager/system-connections/ set autoconnect=true in the "hotspot" files.

Velodyne lidar

Seting for the lidar can be set by the webserver interface by typing the sensor’s network address, 192.168.1.201, into the address bar Velodyne

Hardware components

Velodyne VLP-16 VLP-16 User Manual
Intel NUC 11 NUC 11 User-Manual
Arduino Nano Nano User Manual
Motor driver Sabertooth dual 12A User Manual
Mti 3 IMU mti 3 User Manual
Motors (?)

Known issues and improvements

Add your isssues or improvements here...

Useful commands when working with ROS2

ros2 --help # To see all available sub-commands

Commands:
  action     Various action related sub-commands
  bag        Various rosbag related sub-commands
  component  Various component related sub-commands
  control    Various control related sub-commands
  daemon     Various daemon related sub-commands
  doctor     Check ROS setup and other potential issues
  interface  Show information about ROS interfaces
  launch     Run a launch file
  lifecycle  Various lifecycle related sub-commands
  multicast  Various multicast related sub-commands
  node       Various node related sub-commands
  param      Various param related sub-commands
  pkg        Various package related sub-commands
  run        Run a package specific executable
  security   Various security related sub-commands
  service    Various service related sub-commands
  topic      Various topic related sub-commands
  wtf        Use `wtf` as alias to `doctor`

Build

colcon build #Builds the workspace
- -args
- -symlink-install # Installs symbolic links that makes it possible to modify launch files, .yaml and .xml files without having to re-build
- -packages-select`# Build a specific package
- source install/setup.bash # Source the build

Topics

ros2 topic list # See all the topics
- ros2 topic list -t # Will return the same list of topics, this time with the topic type appended
ros2 topic echo <topic> # See the mesages from the topic
ros2 topic pub <name> <type>
- --once # One pub
- --rate <rate> # Hz
ros2 topic hz <msg> # See the hz of the message
ros2 interface show <msg type> # What structure of data the message expects

Service

ros2 service list # See all the services -ros2 service list -t # Add the service type
- ros2 service find <type_name> # Find all the service of a certain type
ros2 service type <service_name> # See the service type You can call services from the command line, but first you need to know the structure of the input arguments.
ros2 interface show <type_name>
ros2 service call <service_name> <service_type> <arguments>" # Do a service call

Parameters

ros2 param list # To see the parameters belonging to your nodes
ros2 param get <node_name> <parameter_name> To determine a parameter’s type
ros2 param set <node_name> <parameter_name> <value> # To set a parameter value at runtime
ros2 param dump <node_name> # To get a node currents parameter values
ros2 param load <node_name> <parameter_file> # To load paramters from a file To load parameters on startup use:
ros2 run <package_name> <executable_name> --ros-args --params-file <file_name>

Action

ros2 action list # See all the actions

Nodes

ros2 node list # See all the nodes
ros2 node info <node_name> # To get more info about the node
ros2 run <package_name> <executable_name> # Run the node
ros2 run <package_name> <executable_name> --remap <from>:=<to> # Can remap Topics, parameters, and services
ros2 launch <node_name> <launch_script_name.py>

Machine

htop # Monitor processes
sensors # Monitor temperature
rqt_graph # Get ros2 graph, structure and more
rviz2 # visualize topics and send some commands
gazebo # Simulate the robot
rqt_robot_steering # simple gui to steer the robot

Name		Name	Last commit message	Last commit date
Latest commit History 30 Commits
.github/workflows		.github/workflows
ROSArduinoBridge		ROSArduinoBridge
dev_ws/src		dev_ws/src
images		images
nav2_ws/src		nav2_ws/src
.gitignore		.gitignore
README.md		README.md

ketill1/PizzaDelivery

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