Omniroute ROS Controller Setup and Usage (Ubuntu)

Overview

This repository contains the Ubuntu ROS (Noetic) workspace used to control the Omniroute maze. It runs the ROS master, high-level behavioral logic, and the gate/gantry controller nodes, and provides the interface to the Windows-based tracking and projection workspace.

Setup

Need to perform only once on a given OS

For ethercat_grant, you will likely need to install library libcap-dev

sudo apt install libcap-dev

After running catkin_make, copy executable into /usr/local/bin

sudo cp devel/lib/ethercat_grant/ethercat_grant /usr/local/bin
sudo chmod +s /usr/local/bin/ethercat_grant

Three packages may need to be installed:

sudo apt install libxmlrpcpp-dev liblog4cxx-dev librosconsole-dev

Need to run this with each local repo clone

Start in omniroute_ubuntu_ws

cd src/esmacat_master_software

mkdir build
cd build
cmake ..
make

cd ../../plog

mkdir build
cd build
cmake ..
make

cd ../../..

source /opt/ros/noetic/setup.bash

catkin_init_workspace src

Note you may need to comment out any catkin_make alias in the .basher

sudo nano ~/.bashrc 
source ~/.bashrc

On Windows computer

catkin_make

Change terminal starting directory

sudo nano ~/.bashrc
xdg-open ~/.bashrc

Setup ethernet

change ethenet address for ethercat sheild in launch file:
src/omniroute_operation/launch/test.launch

Run catkin_make after changing things

cd omniroute_ubuntu_ws

catkin_make

Make python file executable

chmod +x sync_sender.py

PlatformIO Ubuntu setup

After installig platformio run the fullowing:

sudo apt install python3-venv

Give port write permissions. Note, ports will need to have devices connected:

sudo chmod a+rw /dev/ttyACM0
sudo chmod a+rw /dev/ttyACM1

Give complete port access. Note you need to logout or restart after running:

sudo usermod -aG dialout nc4-lassi

Runtime

Launching the ROS omniroute_controller

cd omniroute_ubuntu_ws

source devel/setup.bash

roslaunch omniroute_operation omniroute_controller.launch

Changing ROS environment settings in Ubuntu

Check the IP address of the computer

ipconfig

Note the inet ip:

enp11s0: flags=4163<UP,BROADCAST,RUNNING,MULTICAST>  mtu 1500
inet 10.34.5.184  netmask 255.255.255.128  broadcast 10.34.5.255

Edit the bashrc

nano ~/.bashrc
gedit ~/.bashrc &

export ROS_MASTER_URI=http://10.34.5.184:11311
export ROS_HOSTNAME=10.34.5.184

Simple topic test

rosrun rospy_tutorials talker.py 

# Check global variables

echo $ROS_HOSTNAME

echo $ROS_MASTER_URI

Running the 3x3 with gantry and optitrack

Windows computer:

Start Motive

Run projection code

Ubuntu computer:

roslaunch omniroute_operation omniroute_controller.launch

Licensing

• Hardware design files (for the Omniroute apparatus) are released under the CERN-OHL-W license.

• Code in this repository is released under the MIT License (MIT) (see LICENSE).