{"id":5863,"date":"2020-01-01T18:19:58","date_gmt":"2020-01-01T23:19:58","guid":{"rendered":"https:\/\/www.rushworth.us\/lisa\/?p=5863"},"modified":"2020-01-01T19:29:26","modified_gmt":"2020-01-02T00:29:26","slug":"setting-up","status":"publish","type":"post","link":"https:\/\/www.rushworth.us\/lisa\/?p=5863","title":{"rendered":"Create 2 With a Pi"},"content":{"rendered":"

Scott has a friend who is linking a Pi up to a Create 2 — using the Ubiquity Pi image<\/a>. 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 \ud83d\ude42<\/p>\n

 <\/p>\n

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

# Shell into running container
\ndocker exec -it UbuntuSandbox bash<\/p>\n

# Update software catalog
\napt-get update<\/p>\n

# Install Prerequisities
\napt-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<\/p>\n

# Create a directory for this project
\nmkdir \/roomba
\ncd \/roomba<\/p>\n

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

mkdir -p \/roomba\/ros_catkin_ws\/external_src
\ncd \/roomba\/ros_catkin_ws\/external_src
\nwget 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
\nunzip assimp-3.1.1_no_test_models.zip
\ncd assimp-3.1.1
\ncmake .
\nmake
\nmake install<\/p>\n

cd \/roomba\/ros_catkin_ws
\nrosdep install -y –from-paths src –ignore-src –rosdistro kinetic -r<\/p>\n

.\/src\/catkin\/bin\/catkin_make_isolated –install -DCMAKE_BUILD_TYPE=Release –install-space \/opt\/ros\/kinetic<\/p>\n

# Source in the ROS bash setup stuff
\nsource \/opt\/ros\/kinetic\/setup.bash<\/p>\n

# Build libcreate
\ngit clone https:\/\/github.com\/AutonomyLab\/libcreate.git
\ncd libcreate
\nmkdir build
\ncd build
\ncmake ..
\nmake<\/p>\n

# Build create_autonomy
\napt-get install python-rosdep python-catkin-tools
\nmkdir -p \/roomba\/create_ws\/src
\ncd \/roomba\/create_ws
\ncatkin init
\ncd \/roomba\/create_ws\/src
\ngit clone https:\/\/github.com\/AutonomyLab\/create_autonomy.git<\/p>\n

cd \/roomba\/create_ws
\nrosdep update
\nrosdep install –from-paths src -i<\/p>\n

# Setup so CMake will find our libcreate when we build create_autonomy
\nmv \/opt\/ros\/kinetic\/lib\/libcreate.so \/opt\/ros\/kinetic\/lib\/libcreate.so.orig
\ncp \/roomba\/libcreate\/build\/libcreate.so \/opt\/ros\/kinetic\/lib\/libcreate.so<\/p>\n

# Continue building create_autonomy
\ncatkin build<\/p>\n

# Source in the autonomy bash environment
\nsource \/roomba\/create_ws\/devel\/setup.bash<\/p>\n

# Create config yaml
\nvi \/roomba\/config.yaml
\n## File content:
\n# Create config YAML
\n# The device path for the robot
\ndev: “\/dev\/ttyUSB0”<\/p>\n

# Baud rate. Passing this parameter overwrites the inferred value based on the robot_model
\nbaud: 115200<\/p>\n

# Base frame ID
\nbase_frame: “base_footprint”<\/p>\n

# Odometry frame ID
\nodom_frame: “odom”<\/p>\n

# Time (s) without receiving a velocity command before stopping the robot
\nlatch_cmd_duration: 0.2<\/p>\n

# Internal loop update rate (Hz)
\nloop_hz: 10.0<\/p>\n

# Whether to publish the transform between odom_frame and base_frame
\npublish_tf: true
\n## End file content<\/p>\n

# Run it
\nroslaunch ca_driver create_2.launch config:=\/roomba\/config.yaml desc:=false<\/p>\n

# Logs at ~\/.ros\/log\/latest<\/p>\n","protected":false},"excerpt":{"rendered":"

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 …<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[29],"tags":[881,882,880],"class_list":["post-5863","post","type-post","status-publish","format-standard","hentry","category-technology","tag-create-2","tag-pi","tag-roomba"],"_links":{"self":[{"href":"https:\/\/www.rushworth.us\/lisa\/index.php?rest_route=\/wp\/v2\/posts\/5863","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/www.rushworth.us\/lisa\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/www.rushworth.us\/lisa\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/www.rushworth.us\/lisa\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/www.rushworth.us\/lisa\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=5863"}],"version-history":[{"count":4,"href":"https:\/\/www.rushworth.us\/lisa\/index.php?rest_route=\/wp\/v2\/posts\/5863\/revisions"}],"predecessor-version":[{"id":5867,"href":"https:\/\/www.rushworth.us\/lisa\/index.php?rest_route=\/wp\/v2\/posts\/5863\/revisions\/5867"}],"wp:attachment":[{"href":"https:\/\/www.rushworth.us\/lisa\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=5863"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.rushworth.us\/lisa\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=5863"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.rushworth.us\/lisa\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=5863"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}