Robotics and Intelligent Systems

Lab-1 Fall-2022

Instructor: Prof. Dr. Francesco Maurelli f.maurelli@jacobs-university.de

• implementation of uuv_simulator and husky
• phobos # blender add on to generate URDF

Quick Start

$ cd ros_project/src

$ git clone https://github.com/uuvsimulator/uuv_simulator.git

$ git clone https://github.com/husky/husky.git

$ git clone https://github.com/ros-teleop/teleop_twist_keyboard.git #optional

$ catkin build # and source devel/setup.bash

$ roslaunch uuv_gazebo_worlds empty_underwater_world.launch

$ roslaunch uuv_descriptions upload_rexrov.launch mode:=default x:=0 y:=0 z:=-20 namespace:=rexrov

$ roslaunch uuv_control_cascaded_pid joy_velocity.launch uuv_name:=rexrov model_name:=rexrov joy_id:=0

all stuff related to rostopic params etc is saved in /dump folder

Creating new robot

$ rosrun uuv_assistants create_new_robot_model --robot_name foronz

Config thruster manager

$ rosrun uuv_assistants create_new_robot_model --robot_name foronz

or

$ rosrun uuv_assistants create_thruster_manager_configuration --robot_name foronz --output_dir <CATKIN_PKG>

$ cd ~/catkin_ws

$ catkin build

$ roslaunch uuv_gazebo_worlds empty_underwater_world.launch

$ roslaunch foronz_description upload.launch

$ roslaunch foronz_control start_thruster_manager.launch reset_tam:=true

To command the vehicle, you have to start the thruster manager and publish a ROS Wrench message to the input topic

/<ROBOT_NAME or ROBOT_NAMESPACE>/thruster_manager/input

To run the tasks as per lab questions

$ roslaunch my_project <task>

eg

$ roslaunch my_project task2.launch # task3.launch or task4d.launch

Project Guide

Task1

Default rexrov launches gazebo GUI and URDF and some other nodes used to control the AUV, like velocity_teleop wrench_controller or which subscribe to Twist/Wrench messages or services. Please find the output for the nodes, topics, services and messages including screenshots of rqt or the terminal output in ros_project/dump folder.

• $ rosnode list # debug information about ROS Nodes, including publications, subscriptions and connections.
• $ rostopic list # publishers, subscribers, publishing rate, and ROS Messages.
• $ rossrv list # prints out service descriptions, packages that contain .srv files
• $ rosservice list # listing and querying ROS Services.
• $ rosmsg list # displaying information about ROS Message types.
• $ rqt_graph # GUI plugin for visualizing the ROS computation graph.

Task2

• $ roslaunch my_project task2.launch
• $ cd bagfiles
• $ rosbag record rexrov/cmd_vel
• $ rqt_plot rexrov/cmd_vel/angular:linear
• $ rosbag play <bagfile>
• The screenshots are save in /dump folder

Task3

• node can be found at ros_project/src/my_project/scripts/wrench_controller.py
• $ roslaunch my_project task3.launch

Task4

• Blender files are saved in /foronz_xD
• robot descriptions are ros_project/src/foronz_simulator/foronz_description
• Using default thruster placement cuz why not.
• part c node src/my_project/scripts/thruster_allocator.py
• finallyy $ roslaunch my_project task4d.launch

Project Contribution

Group Members

• Faraz Ahmad (fa.ahmad@jacobs-university.de)
• Muaaz Rajput (murajput@jacobs-universty.de)
• Ainna Zafar (a.zafar@jacobs-university.de)

Each task of the project was done by the three group members together, so there is really no way to distribute the contributions. Consider it 33.333333333333% contributed by each member. Vielen Dank!