The following documentation outlines the steps required to run the CompactWarehouseRobotNavi (UCL EEE Final Year Project).

• Clone Repository
• Project structure
• Installation and Setup
• Running the Program
  • Running and controlling robot manually
  • Running robot with navigation
• FAQ / Troubleshooting

Git clone from the GitHub Repository and checkout to the master branch

$ git clone https://github.com/zhenghung/CompactWarehouseRobotNavi
$ git checkout master

1. ROS-kinetic
2. Arduino
3. rosserial

Required: Local Network allowing port forwarding, if none is available a locally hosted hotspot works just fine.

1. Find out your local IP address.

$ hostname -I

2. Add the config to your .bashrc file, replacing <Remote Computer IP> with the local IP address, e.g. 10.42.0.1.

$ echo "export ROS_IP=0.0.0.0" >> ~/.bashrc
$ echo "export ROS_HOSTNAME=<Remote Computer IP>" >> ~/.bashrc
$ echo "export ROS_MASTER_URI=http://<Remote Computer IP>:11311" >> ~/.bashrc

1. Connect to the same local network as ROS Master
2. Find your local IP address.

$ hostname -I

3. Add the config to your .bashrc file,
   • Replace <Remote Computer IP> with the local IP address, e.g. 10.42.0.41.
   • Replace <ROS Master IP> with the ROS Master IP address, e.g. 10.42.0.1. (Must be same as the server device ROS_MASTER_URI)

$ echo "export ROS_IP=0.0.0.0" >> ~/.bashrc
$ echo "export ROS_HOSTNAME=<Remote Computer IP>" >> ~/.bashrc
$ echo "export ROS_MASTER_URI=http://<ROS Master IP>:11311" >> ~/.bashrc

Note that your local IP changes based on the network your computer is connected to, so edit the ~/.bashrc file as needed, then source the file

Start ROS Master.

$ roscore

Start arduino serial node. Replace <Arduino Serial Port> with the serial port assigned. (e.g. /dev/ttyACM0)

$ sudo chmod 666 <Arduino Serial Port>
$ rosrun rosserial_python serial_node.py <Arduino Serial Port>

From within the repository directory,

$ python python/robotmover/robotmover_manual.py

Enter a command and press the <ENTER> key. Robot will execute last command until told otherwise.

Note: Robot will not stop automatically

Commands:

• w : Robot moves forward
• a : Robot turns left
• s : Robot stops
• d : Robot turns right

To view the robot position in RVIZ. Republish the /CompressedMsg topic into /odom

From within the repository directory,

$ python python/robotmover/pubsub.py

Then open rviz to view /odom

$ rosrun rviz rviz

Start ROS Master.

$ roscore

Start arduino serial node. Replace <Arduino Serial Port> with the serial port assigned. (e.g. /dev/ttyACM0)

$ sudo chmod 666 <Arduino Serial Port>
$ rosrun rosserial_python serial_node.py <Arduino Serial Port>

Start lidar serial node. Replace <Lidar Serial Port> with the serial port assigned. (e.g. /dev/ttyUSB0)

$ sudo chmod 666 <Lidar Serial Port>
$ roslaunch rplidar_ros rplidar.launch

Republish the /CompressedMsg topic into /odom.

From within the repository directory,

$ python python/robotmover/pubsub.py