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Simulation ROS2 Webots Status Version

Build

Onboard build

cd ~/ros
source /opt/ros/foxy/setup.bash
./setup.bash robot_name
source install/setup.bash

Dev / Simulation build

. /path/to/ros/install/setup.bash
cd path/to/ros
./setup.bash simulation
. install/setup.bash

Few service calls

Enable stepper drivers
ros2 service call /obelix/enable_drivers  std_srvs/SetBool "{data: true}"
Send action goal
ros2 action send_goal /asterix/navigate_to_pose nav2_msgs/action/NavigateToPose "{'pose': {'pose': {'position': {'x': 1.25, 'y': 0.25}, 'orientation':{'z':0.7071068, 'w':0.7071068}}}}"
Deploy pharaon
ros2 service call /pharaon/deploy std_srvs/srv/Trigger
Disable Aruco detection
ros2 service call /enable_aruco_detection std_srvs/SetBool "{data: false}"
Publish to LCD screen
ros2 topic pub -1 /obelix/lcd lcd_msgs/Lcd "{text: 'sudo reboot', line: 1}"

Changelog

v0.9.0

  • Improved overall documentation rules
  • Fixed map_server launcher #44
  • Improved odometry readjustment routine #43
  • Added Vlx odometry readjustment functionality #43
  • Added odom_map_relative Pose_Stamped topic #43
  • Refactored Localisation #43
  • Added vlx_manager in Webots #43
  • CI will fail if any node crashes #42
  • CI automaticaly removes artifacts older than 2 weeks #37
  • Added 2 teb_controllers (nominal, accurate) #36
  • Added custom_goal_checker plugin #36
  • Added costmap_converter_custom plugin #36
  • Added bt_boolean_condition plugin #36
  • Added bt_split_goal plugin #36
  • Added costmap_converter_custom plugin #35
  • Added black python code formatter check in CI #32
  • Added service adjust_odometry #31
  • Added possibility to readjust odometry #31
  • Improved teb_controller parameters #29
  • Improved navigation2 parameters #29
  • Updated packages.xml to add support for mothership and valhalla

v0.8.4

  • Added localisation node compatible with side selection interfaces with service call for odometry correction
  • Fixed bug in costmap causing robot position to be evaluated outside of it
  • Fixed bugs in NavigateToPose calculation
  • Added actuators drivers with full support for ArbotixM
  • Added templating for YAML files
  • Added non-blocking selftest upon startup
  • Added service call disable for aruco detection
  • Added service call disable for drive steppers
  • Added actuators logic in strategy
  • Fixed ATTiny-85 firmwares for sliders
  • Improved assurancetourix aruco detection with better camera calibration
  • Improved and fixed ATTiny for steppers WARNING : There is still an unresolved bug which causes I2C bus to freeze randomly
  • Fixed VL53L1X sensors initialisation board's firmware
  • Refactored Pharaon firmware
  • Refactored Panoramix
  • Refactored cetautomatix
  • Removed sensors node
  • Droped ubuntu 20.04.1 LTS for Raspbian Buster 10
  • Precompiled ros2 binaries now available in releases

v0.8.0

  • Updated linux distro to ubuntu 20.04 LTS
  • Updated ROS2 distro to Foxy
  • Added webots simulation world for Physical based simulation
  • Automated cloud based simulation on Github Actions CI
  • New Timed Elastic Band (TEB) Controller achieving high speed and precision
  • Added package Titan for simulation mode
  • Compatibility with ros2_cross_compile for packaging x86_64/arm64 ros2 packages
  • Refactored cetautomatix
  • Simulation mode for assurancetourix, drive and pharaon
  • Fixed many bugs thanks to simulation mode, including race conditions between modules

v0.7.0

  • Full support for asterix, obelix, assurancetourix and pharaon running simultaneously
  • Upstreamed navigation2 stack to master branch
  • Refactored behavior trees with full strategy engine support
  • Robot launchers templating
  • Support for border in map
  • Added transformix service for transformations
  • Added firmware for microcontrolers and pharaon
  • Consistent code formatting through the whole repository
  • Refactored setup script and updated docs
  • Default build type for cmake is now Release
  • Updated CI to use setup script in simulation mode
  • Added changelog

v0.6.0b

  • Added actuators node, with full support for Arbotix-M and actuators board
  • Partial namespacing for asterix
  • Assurancetourix node fine tuning
  • Added cetautomatix node, descision node based on behavior trees
  • Added ST VL53L1X ToF sensors support in sensor node
  • Creation of docs for I2C and debugging
  • Created panoramix server node

v0.5.0

  • Pharaon interface as ROS 2 service
  • URDF XACRO templating for asterix and obelix
  • Added support for MIPI_CAMERA in assurancetourix
  • Higher accuracy in navigation

v0.4.0

  • Created assurancetourix ARUCO detection Node
  • Added LCD screen driver node
  • Tuning the navigation stack

v0.3.0

  • Fixes inside drive node for odometry
  • Added sensors inside URDF
  • Adding support for ROS 2 navigation stack

v0.2.0

  • Adding odometry to drive node
  • Adding sensors node with support for custom HCSR04 over I2C
  • Adding parameters file

v0.1.0

  • Drive node creation. Supports receiving speed commands
  • Range sensors PoC using ARM mbed on FRDM K64F