• In order to install ROS2 framework you should follow the guidelines in Link
• Install ROS2 dependency, run the following command on terminal in order to install control, controller, xacro and libusb

sudo apt-get install libusb-1.0-0-dev ros-humble-ros2-control ros-humble-ros2-controllers ros-humble-xacro
sudo apt install ros-humble-gazebo-ros2-control
sudo apt install ros-humble-rplidar-ros

• Download project: Clone git project from github to my project directory
• cd ~/my project
• Run in terminal colcon build

ros2 run tf2_tools view_frames

The simulation is based on Rviz only, the pipline does not attached to ODrive

Link Differential Mobile Robot is a simple mobile base with differential drive.

1. To check that DiffBot description is working properly use following launch commands:

   ros2 launch diffbot_description view_robot.launch.py
   

2. To start DiffBot example open a terminal, source your ROS2-workspace and execute its launch file with:

   ros2 launch ros2_control_demo_bringup diffbot.launch.py
   

3. Check if the hardware interface loaded properly, by opening another terminal and executing:

   ros2 control list_hardware_interfaces
   

   You should get:

   command interfaces
        left_wheel_joint/velocity [claimed]
        right_wheel_joint/velocity [claimed]
   state interfaces
         left_wheel_joint/position
         left_wheel_joint/velocity
         right_wheel_joint/position
         right_wheel_joint/velocity
   

   The [claimed] marker on command interfaces means that a controller has access to command DiffBot.

4. Check if controllers are running:

   ros2 control list_controllers
   

   You should get:

   diffbot_base_controller[diff_drive_controller/DiffDriveController] active
   joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster] active
   

5. If everything is fine, now you can send a command to Diff Drive Controller using ros2 cli interface:

   ros2 topic pub --rate 30 /diffbot_base_controller/cmd_vel_unstamped geometry_msgs/msg/Twist "linear:
    x: 0.7
    y: 0.0
    z: 0.0
   angular:
    x: 0.0
    y: 0.0
    z: 1.0"
   

   You should now see an orange box circling in RViz. Also, you should see changing states in the terminal where launch file is started.

ros2 launch gazebo_ros2_control_demos diff_drive.launch.py

A description Link

We are using firmware version 0.5.1, pip instalation:

sudo pip3 install odrive==0.5.1.post0

odrivetool
odrv0.erase_configuration()
odrv0.save_configuration()
odrv0.reboot()
dump_errors(odrv0)

• Setup the motor and encoder parameters and run calibrate

python3 src/odrive/odrive_calibration/odrive_setup_config.py

• Motor and encoder calibration and small test

python3 src/odrive/odrive_calibration/two_motors_calibration.py

• Motor and encoder full calibration, a test and save offset

python3 src/odrive/odrive_calibration/odrive_config.py

The following test is using ODrive hardware, so be sure you calibrated the motors and encoders

• Run

ros2 launch odrive_demo_bringup odrive_multi_interface.launch.py

• Publish topic in new terminal

ros2 topic pub -r 100 /joint0_velocity_controller/commands std_msgs/Float64MultiArray "data: [1]"

Link

ros2 launch odrive_demo_bringup odrive_diffbot.launch.py

Run the following command

ros2 topic pub --rate 30 /diffbot_base_controller/cmd_vel_unstamped geometry_msgs/msg/Twist "linear:
 x: 0.2
 y: 0.0
 z: 0.0
angular:
 x: 0.0
 y: 0.0
 z: 1.0"

• ros2 run mouse_teleop mouse_teleop
• ros2 run mouse_teleop mouse_teleop --ros-args -r holonomic:=true
• ros2 topic echo /mouse_vel
• rqt_robot_steering
• Controlling via keyboard

ros2 run teleop_twist_keyboard teleop_twist_keyboard cmd_vel:=/mini_robot_base_controller/cmd_vel_unstamped

Run

ros2 launch rplidar_ros rplidar.launch.py

View on RViz

ros2 launch rplidar_ros rviz_rplidar.launch.py

• Assuming you have installed ROS2 Desktop
• In order ot Enable / Disable hardware or simulation change the values false (with ODrive hardware) / true (without ODrvie)

<xacro:arg name="use_fake_hardware" default="false" />
<xacro:arg name="fake_sensor_commands" default="false" />
<xacro:arg name="use_gazebo" default="false" />

Change controller

robot_controllers.yaml
use_sim_time: true #for gazebo simulation
use_sim_time: false #for real robot

• Launch a robot devices

ros2 launch rosbot_bringup robot.launch.py

• Or control launch a robot with XBox joystick.
• Assuming you have installed ROS2 Desktop with dependency of joy_node and teleop_twist_joy.
• In order ot Enable / Disable hardware or simulation change the values false (with ODrive hardware) / true (without ODrvie)

ros2 launch rosbot_bringup robot_xbox_control.launch.py

• Server

ros2 launch rosbot_bringup rviz.launch.py

• Gazebo simulation (includes Rviz)

ros2 launch rosbot_bringup gazebo.launch.py

• Control with a Keyboard

ros2 run teleop_twist_keyboard teleop_twist_keyboard cmd_vel:=/mini_robot_base_controller/cmd_vel_unstamped

• Publish topic via terminal run the following command

ros2 topic pub --rate 30 /mini_robot_base_controller/cmd_vel_unstamped geometry_msgs/msg/Twist "linear:
 x: 0.2
 y: 0.0
 z: 0.0
angular:
 x: 0.0
 y: 0.0
 z: 1.0"

• SLAM

ros2 launch rosbot_bringup slam.launch.py 

• Robot localization

ros2 launch rosbot_bringup localization.launch.py