ROS 2 Humble GoPiGo3 v5 Update Released

cyclicalobsessive · December 7, 2023, 6:09am

It has been 13 months since I last updated the ROS 2 Humble for GoPiGo3 image with “Intro to ROS 2 on the GoPiGo3” documents. It didn’t cause ROS folks to break the door down to get GoPiGo3 robots as I hoped, but as the basis for a year of Humble Dave investigation it fared well.

I have created an updated image ROS2HHv5 and updated the documentation where needed.

Updates:

OS and ROS packages updated to latest as of today (was taking over an hour to update)
Applied the v4 manual fixes so card is immediately useful
Added Nav2 startup script
Added arrow keys to teleop_gopigo3_node for driving the GoPiGo3

Get started here:

github.com

slowrunner/ROS2-GoPiGo3/blob/main/README.md

# Headless Setup For A ROS2 GoPiGo3 Robot

<img src="Graphics/Dave_And_Carl.jpg" width="320"/>  
ROS2 GoPiGo3 robot Dave with GoPiGo3 robot Carl  

&nbsp;

[Get a GoPiGo3 robot here](https://gopigo.io/gopigo-core/)  

The ROS2 GoPiGo3 Install covers:  
  - Ubuntu 22.04 LTS Server (64-bit) on Raspberry Pi  
  - GoPiGo3 API and Drivers  
  - ROS2 Humble Hawksbill  
  - ROS2 for GoPiGo3 nodes and tools  
  - ROS2 Desktop Visualization

# Installation:  
1) [INSTALL FROM IMAGE](Docs/INSTALL_FROM_IMAGE.md)

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Prior update:

Testers Wanted: "v4 image" ROS2 for GoPiGo3

URDF files for dave, finmark, and gpgMin (a basic GoPiGo3 without any sensors)

robot state and joint state publishers on GoPiGo3 (use the on-platform URDF)

WiFi IP announcement at boot to the attached speaker (or headphones)

Slam-toolbox mapping and save (map also visible in rviz2 on any desktop ROS2 installation)

Work around found to eliminate shutdown errors in all the ROS2 GoPiGo3 code
(The code I wrote. One last shutdown error from joint_state_publisher I can’t figure out.)

start_robot_xxxx (xxxx= dave, finmark, or gpgMin), and universal stop_robot.sh script to shutdown all nodes

/usr/local/bin/stop (just type stop from anywhere for a “runaway robot”)

10 frames per minute PiCamera /Image topic publisher for camera equipped GoPiGo3 robots

odometry reset batch file to demonstrate publish to the ros2_gopigo3_node service listener from command line

no default /home/pi/Dexter/gpg3_config.json so it gets generated automatically

monitor.sh script reports CPU load and temperature, Memory usage, and Battery Voltage

“odometer” node /odom subscriber prints to console+logs motion start and ending x, y, heading
(./start_odometer.sh to run it)

No longer auto starts distance_sensor node which had huge CPU load impact (vs imu or ultrasonic ranger nodes)

Tuning ROS2 GoPiGo3 utility programs and usage document

Testing ROS2 GoPiGo3 document updated

auto update disabled - run update/upgrade at your discretion

ROS2 GoPiGo3 Desktop Visualization Guide
(For users with ROS2 installed on a desktop/laptop)

cyclicalobsessive · January 13, 2024, 2:01pm

@rogerscode noticed the sharing permission was set wrong on the v5 ROS2HH image. I have corrected that, so the link from my github page should work now. If anyone has further problems with accessing the image, please let me know.

cleoqc · January 29, 2024, 4:29pm

Have I got your permission to put this new image on Sourceforge too?

Thanks for the work you’re doing with the GPG3 and ROS2! It’s awesome!

cyclicalobsessive · January 29, 2024, 5:52pm

Absolutely. Hopefully it will create some new ROS programmers.

ROS is such a simple architecture, but to do anything with it takes lots of lines of programming and a huge knowledge quest to leverage the “do everything anyone could think to do with a robot” free packaged software.

Everyone can start learning with this image and the GoPiGo.

There were over 100k new ROS users last year… hopefully now that Raspberry Pi boards are again available, some of those will see the GoPiGo3 as the great learning opportunity that we know it can be.