Create 2 With a Pi

Scott has a friend who is linking a Pi up to a Create 2 — using the Ubiquity Pi image. Unfortunately, it doesn’t seem to communicate with the robot. Tx but to Rx. There are a few issues in the create_autonomy and libcreate repos that report the same issue and have subsequently merged in a fix. But the Ubiquity image is from June 2019 … which pre-dates the fix. I’ve run through the process of installing ROS and create_autonomy on a base Ubuntu. Thought I’d save the process for later 🙂

 

# Get Ubuntu 16.4 environment to match what Ubiquity Robotics is using … obviously, this would all be run on the Pi instead
docker run -dit –name UbuntuSandbox ubuntu:xenial

# Shell into running container
docker exec -it UbuntuSandbox bash

# Update software catalog
apt-get update

# Install Prerequisities
apt-get install python-rosdep python-rosinstall-generator python-wstool python-rosinstall build-essential cmake git libblkid-dev e2fslibs-dev libboost-all-dev libaudit-dev vim python-pip python-rosdep wget unzip

# Create a directory for this project
mkdir /roomba
cd /roomba

# Install ROS
apt-get install lsb-release
sh -c ‘echo “deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main” > /etc/apt/sources.list.d/ros-latest.list’
apt-key adv –keyserver hkp://ha.pool.sks-keyservers.net:80 –recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
apt-get update
apt-get upgrade
apt-get install -y python-rosdep python-rosinstall-generator python-wstool python-rosinstall build-essential cmake
mkdir /roomba/ros
cd /roomba/ros
rosdep init
rosdep update
mkdir -p /roomba/ros_catkin_ws
cd /roomba/ros_catkin_ws
rosinstall_generator ros_comm –rosdistro kinetic –deps –wet-only –tar > kinetic-ros_comm-wet.rosinstall
wstool init src kinetic-ros_comm-wet.rosinstall

mkdir -p /roomba/ros_catkin_ws/external_src
cd /roomba/ros_catkin_ws/external_src
wget http://sourceforge.net/projects/assimp/files/assimp-3.1/assimp-3.1.1_no_test_models.zip/download -O assimp-3.1.1_no_test_models.zip
unzip assimp-3.1.1_no_test_models.zip
cd assimp-3.1.1
cmake .
make
make install

cd /roomba/ros_catkin_ws
rosdep install -y –from-paths src –ignore-src –rosdistro kinetic -r

./src/catkin/bin/catkin_make_isolated –install -DCMAKE_BUILD_TYPE=Release –install-space /opt/ros/kinetic

# Source in the ROS bash setup stuff
source /opt/ros/kinetic/setup.bash

# Build libcreate
git clone https://github.com/AutonomyLab/libcreate.git
cd libcreate
mkdir build
cd build
cmake ..
make

# Build create_autonomy
apt-get install python-rosdep python-catkin-tools
mkdir -p /roomba/create_ws/src
cd /roomba/create_ws
catkin init
cd /roomba/create_ws/src
git clone https://github.com/AutonomyLab/create_autonomy.git

cd /roomba/create_ws
rosdep update
rosdep install –from-paths src -i

# Setup so CMake will find our libcreate when we build create_autonomy
mv /opt/ros/kinetic/lib/libcreate.so /opt/ros/kinetic/lib/libcreate.so.orig
cp /roomba/libcreate/build/libcreate.so /opt/ros/kinetic/lib/libcreate.so

# Continue building create_autonomy
catkin build

# Source in the autonomy bash environment
source /roomba/create_ws/devel/setup.bash

# Create config yaml
vi /roomba/config.yaml
## File content:
# Create config YAML
# The device path for the robot
dev: “/dev/ttyUSB0”

# Baud rate. Passing this parameter overwrites the inferred value based on the robot_model
baud: 115200

# Base frame ID
base_frame: “base_footprint”

# Odometry frame ID
odom_frame: “odom”

# Time (s) without receiving a velocity command before stopping the robot
latch_cmd_duration: 0.2

# Internal loop update rate (Hz)
loop_hz: 10.0

# Whether to publish the transform between odom_frame and base_frame
publish_tf: true
## End file content

# Run it
roslaunch ca_driver create_2.launch config:=/roomba/config.yaml desc:=false

# Logs at ~/.ros/log/latest

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