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Installation

Either follow the steps below or download the finished Raspberry Pi image here

Installing dependencies

  1. [Remote] Add the apt repository 
    sudo apt update && sudo apt install curl gnupg2 lsb-release -y
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(source /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
sudo apt update
  2. [Remote] Install ROS2 and Gazebo 
    sudo apt install ros-foxy-desktop -y
source /opt/ros/foxy/setup.bash
sudo apt install python3-colcon-common-extensions gazebo11 ros-foxy-gazebo-ros-pkgs ros-foxy-cartographer ros-foxy-cartographer-ros ros-foxy-navigation2 ros-foxy-nav2-bringup -y
  3. [Remote] Install TurtleBot3 
    sudo apt install python3-vcstool git -y
mkdir -p ~/turtlebot3_ws/src
cd ~/turtlebot3_ws
wget https://raw.githubusercontent.com/ROBOTIS-GIT/turtlebot3/ros2/turtlebot3.repos
sed -ie "s/ros2-devel/foxy-devel/g" turtlebot3.repos && sed -ie "$ s/foxy-devel/ros2-devel/" turtlebot3.repos
vcs import src < turtlebot3.repos
colcon build --symlink-install
  4. [Remote] Setup Ros2 Add the source commands to ~/.bashrc by running 
    echo "source /opt/ros/foxy/setup.bash" >> ~/.bashrc
echo "source ~/turtlebot3_ws/install/setup.bash" >> ~/.bashrc
echo "export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:~/turtlebot3_ws/src/turtlebot3/turtlebot3_simulations/turtlebot3_gazebo/models" >> ~/.bashrc
echo "export TURTLEBOT3_MODEL=burger" >> ~/.bashrc
echo "export ROS_DOMAIN_ID=30" >> ~/.bashrc
  5. [Remote] Clone the repository 
    cd ~
git clone https://github.com/Le36/ros2-mapper.git
  6. [Remote] Setup Gazebo
    1. Add the following lines to ~/turtlebot3_ws/src/turtlebot3/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_burger/model.sdf between the <model> tags 
            <joint name='camera_joint' type='fixed'>
        <parent>base_link</parent>
        <child>camera_link</child>
        <pose>0 0 0 0 -0 0</pose>
      </joint>
      <link name='camera_link'>
        <pose>0.04 0 0.13 0 -0 0</pose>
        <inertial>
          <mass>1e-18</mass>
          <pose>0 0 0 0 -0 0</pose>
          <inertia>
            <ixx>1</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>1</iyy>
            <iyz>0</iyz>
            <izz>1</izz>
          </inertia>
        </inertial>
        <sensor name='camera_sensor' type='camera'>
          <update_rate>30</update_rate>
          <camera name='camera_name'>
            <horizontal_fov>1.086</horizontal_fov>
            <image>
              <width>480</width>
              <height>640</height>
              <format>R8G8B8</format>
            </image>
            <clip>
              <near>0.1</near>
              <far>100</far>
            </clip>
            <distortion>
              <k1>0.25106112</k1>
              <k2>-0.6379611</k2>
              <k3>0.40809116</k3>
              <p1>0.0069353</p1>
              <p2>0.01579591</p2>
            </distortion>
            <lens>
              <intrinsics>
                <fx>525.44920374</fx>
                <fy>526.37302771</fy>
                <cx>330.24175119</cx>
                <cy>243.26842016</cy>
              </intrinsics>
            </lens>
          </camera>
          <plugin name='camera_controller' filename='libgazebo_ros_camera.so'>
            <alwaysOn>1</alwaysOn>
            <updateRate>0.0</updateRate>
            <camera_name>camera</camera_name>
            <imageTopicName>image_raw</imageTopicName>
            <frame_name>camera_link</frame_name>
            <hack_baseline>0.07</hack_baseline>
          </plugin>
        </sensor>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
      </link>
    2. Recompile the turtlebot3 models 
      cd ~/turtlebot3_ws
colcon build --symlink-install
    3. Add the QR code models to the Gazebo models directory 
      mkdir -p ~/.gazebo/models
cp ~/ros2-mapper/models/qr_code_* ~/.gazebo/models/ -r
  7. [TurtleBot3] Initial setup
    1. Build the robot
    2. Follow this tutorial and remember to select Foxy as the version
  8. [TurtleBot3] Install ROS2 
    sudo apt install ros-foxy-desktop python3-colcon-common-extensions -y
sudo apt install ros-foxy-cartographer ros-foxy-cartographer-ros ros-foxy-navigation2 ros-foxy-nav2-bringup -y
  9. [TurtleBot3] Setup the turtlebot 3
    1. Add the source commands to ~/.bashrc by running 
      echo "source ~/m-explore-ros2/install/setup.bash" >> ~/.bashrc
echo "export TURTLEBOT3_MODEL=burger" >> ~/.bashrc
    2. Edit the ~/.bashrc file and set ROS_DOMAIN_ID to equal the value on the remote PC
  10. [TurtleBot3] Setup the Raspberry Pi camera
    1. Add start_x=1 to the end of /boot/firmware/config.txt
    2. Reboot
  11. [Remote] Add your ssh key to the Raspberry Pi
    1. Generate an ssh key if you already don't have one
    2. Add the public key to the TurtleBot3 
      ssh-copy-id ubuntu@<TurtleBot 3 ip>

Installing project

  1. [Remote] Clone the repository if you have not already

    cd ~
git clone https://github.com/Le36/ros2-mapper.git

  2. [Remote] Go to the workspace

    cd ~/ros2-mapper/workspace

  3. [Remote] Create the virtual environment

    1. Create the virtual environment 
      sudo apt install python3.8-venv -y
python3 -m venv venv
source venv/bin/activate
    2. Make sure that colcon doesn’t try to build the venv 
      touch venv/COLCON_IGNORE
    3. Check that your venv packages are in PYTHONPATH 
      echo $PYTHONPATH | sed -e "s/:/\n/g"

      • This should show the path to your ROS distro, e.g. opt/ros/foxy/lib/python3.8/site-packages, and the path to your environment packages path-to-your-env/lib/python3.8/site-packages

      • If the env-package path is not present, add it using

        export PYTHONPATH=$PYTHONPATH:$(pwd)/venv/lib/python3.8/site-packages

      • To avoid adding the env-package path to $PYTHONPATH every single time, add the following line to venv/bin/activate

        export PYTHONPATH=$PYTHONPATH:$(pwd)/venv/lib/python3.8/site-packages

  4. [Remote] Setup rosdep

    sudo apt install python3-rosdep2 -y
rosdep update

  5. [Remote] Install the dependencies

    sudo apt install pycodestyle python3-opencv -y
rosdep install -i --from-path src --rosdistro foxy -y
pip3 install -r requirements.txt
    • Installing the requirements with pip might give the error ERROR: Failed building wheel for empy/pytest-env, but it is probably safe to ignore

  6. [Remote] Build

    colcon build --symlink-install

  7. [TurtleBot3] Clone the repository

    sudo apt install git -y
cd ~
git clone https://github.com/Le36/ros2-mapper.git
cd ros2-mapper/workspace

  8. [TurtleBot3] Create the virtual environment

    1. Create the virtual environment 
      sudo apt install python3.8-venv -y
python3 -m venv venv
source venv/bin/activate
    2. Make sure that colcon doesn’t try to build the venv 
      touch venv/COLCON_IGNORE
    3. Check that your venv packages are in PYTHONPATH 
      echo $PYTHONPATH | sed -e "s/:/\n/g"

      • This should show the path to your ROS distro, e.g. opt/ros/foxy/lib/python3.8/site-packages, and the path to your environment packages path-to-your-env/lib/python3.8/site-packages

      • If the env-package path is not present, add it using

        export PYTHONPATH=$PYTHONPATH:$(pwd)/venv/lib/python3.8/site-packages

      • To avoid adding the env-package path to $PYTHONPATH every single time, add the following line to venv/bin/activate

        export PYTHONPATH=$PYTHONPATH:$(pwd)/venv/lib/python3.8/site-packages

  9. [TurtleBot3] Setup rosdep

    sudo apt install python3-rosdep2 -y
rosdep update

  10. [TurtleBot3] install the dependencies

    sudo apt install python3-opencv -y
pip3 install -r requirements.txt
rosdep install -i --from-path src --rosdistro foxy -y
    • Installing the requirements with pip might give the error ERROR: Failed building wheel for empy/pytest-env, but it is probably safe to ignore

  11. [TurtleBot3] Build

    colcon build --symlink-install