About

Tuna is an open-electronics and open-software GNSS platform for ROS, based on the Pi 4. It uses diff drive control for locomotion with diff_drive_simple, a standard percision GNSS receiver for absolute localization with navsat_simple, and an IMU for rotational data. If you see the overreaching theme there, I'm trying to keep everything as simple as possible.

In the current iteration it uses Vizanti as the mission planner and line_planner as its local planner. You can find more specific info below or in the related videos.

List of videos about construction and testing:

Video	Description
	Hardware setup and general software stack info, initial testing with ROS Mobile and navsat_transform_node.
	Practical navigation experiments with proprietary EZ-Map and gps_common. Simulation in Ignition Gazebo.
	Open source navigation and interface with Vizanti, developing the more accurate line_planner. Survey pattern tests.

Circuit Diagram

Node Graph

Installation

Running in Gazebo Fortress

Base requirements:

• ROS Noetic
• Gazebo Ignition (version Fortress)
• ros_ign bridge for Noetic

Clone repos:

cd ~/catkin_ws/src
git clone https://github.com/MoffKalast/tuna.git
# Diff drive controller
git clone https://github.com/MoffKalast/diff_drive_simple.git
# Localization fusion
git clone https://github.com/MoffKalast/navsat_simple.git
# Goal planner
git clone https://github.com/MoffKalast/line_planner.git

# Optional, for RViz Viewing
git clone https://github.com/nobleo/rviz_satellite.git

# ign bridge setup, skip if already installed
export IGNITION_VERSION=fortress
git clone https://github.com/osrf/ros_ign.git -b noetic

cd ~/catkin_ws
rosdep install --from-paths src --ignore-src --rosdistro=noetic -y
catkin_make

Run:

# Run the sim
roscd tuna_gazebo
ign gazebo water_world.sdf -r

# Run bridge and navigation nodes
roslaunch tuna_gazebo ign.launch

# Visualize
roslaunch tuna_viz rviz.launch

# Turn on currnent/wind simulation
rosrun tuna_gazebo wave_generator.py

Running with Vizanti

Install:

cd ~/catkin_ws/src
https://github.com/MoffKalast/vizanti.git
cd ..
rosdep install --from-paths src --ignore-src --rosdistro=noetic -y
catkin_make

Run:

roslaunch vizanti server.launch

Then view http://localhost:5000

Running on a Raspberry Pi

Clone hw drivers:

cd ~/catkin_ws/src
git clone https://github.com/dpkoch/imu_calib.git
git clone https://github.com/MoffKalast/onewiretemp.git
git clone https://github.com/MoffKalast/safety_light.git
git clone https://github.com/MoffKalast/mpu9255.git

cd ~/catkin_ws
rosdep install --from-paths src --ignore-src --rosdistro=noetic -y
catkin_make

To run this on a Pi 4, start with a 20.04 Ubuntu Pi image, install everything as listed above, plus pigpio.

Fix services to set up correct ROS params and autorun at boot:

cd ~/catkin_ws/src/tuna/tuna_bringup/config_scripts
sudo cp roscore.service /etc/systemd/system/roscore.service

sudo cp magni-base /usr/sbin/magni-base
sudo cp roscore /usr/sbin/roscore

sudo cp env.sh /etc/ubiquity/env.sh
sudo cp ros_setup.bash /etc/ubiquity/ros_setup.bash
sudo cp ros_setup.sh /etc/ubiquity/ros_setup.sh

Changes to /boot/config.txt for i2c, uart, and LED power saving:

# disable rainbow splash screen for faster booting
disable_splash=1

# Set up UART and disable BT
dtoverlay=disable-bt
dtoverlay=uart0

# Set up I2C
dtoverlay=i2c-gpio,i2c_gpio_sda=2,i2c_gpio_scl=3,bus=1 core_freq=250

# Disable the PWR LED
dtparam=pwr_led_trigger=none
dtparam=pwr_led_activelow=off

# Disable the Activity LED
dtparam=act_led_trigger=none
dtparam=act_led_activelow=off

# Disable ethernet port LEDs
dtparam=eth_led0=4
dtparam=eth_led1=4

Enable Kernel Interfaces

For the safety_light to have the correct kernel interface access create /etc/udev/rules.d/99-gpio.rules with the following contents (if it doesn't already exist):

SUBSYSTEM=="bcm2835-gpiomem", KERNEL=="gpiomem", GROUP="gpio", MODE="0660"
SUBSYSTEM=="gpio", KERNEL=="gpiochip*", ACTION=="add", RUN+="/bin/sh -c 'chown root:gpio /sys/class/gpio/export /sys/class/gpio/unexport ; chmod 220 /sys/class/gpio/export /sys/class/gpio/unexport'"
SUBSYSTEM=="gpio", KERNEL=="gpio*", ACTION=="add", RUN+="/bin/chown root:gpio /sys%p/active_low /sys%p/edge /sys%p/direction /sys%p/value", RUN+="/bin/chmod 660 /sys%p/active_low /sys%p/edge /sys%p/direction /sys%p/value"

Run

This launch file will also launch automatically at boot via the magni-base service.

roslaunch tuna_bringup core.launch