BlockBuster

Code implementation for our robot competing in the EPFL Robotic Competition.

       

Complete submission video can be found here.

Some code of this repository was inspired from the following repositories:

• articubot_one
• diffdrive_arduino
• depthai-ros

Installation

Prerequisites

Software requirements:

• Ubuntu 22.04
• ROS2 Humble
• Gazebo 11
• Python 3.10
• Docker

Hardware requirements:

• Raspberry Pi 5 (or equivalent)

1. Onboard Computer Wireless Connection

1. OPTIONAL - Connect to the zerotier private network (ID: 856127940c82f9a4):

sudo zerotier-cli join 856127940c82f9a4

2. SSH into the onboard computer:

[email protected]
psswd: pi

3. Shutdown onboard computer:

sudo poweroff

4. Disconnect from the zerotier network (ID: 856127940c82f9a4):

sudo zerotier-cli leave 856127940c82f9a4

2. Docker Container Setup (Run ROS2 in Docker)

1. OPTIONAL - Pull the Docker image from Docker Hub (if not already done):

docker pull jacquemont/robot_os

2. Run the Docker container:

sudo docker run --rm --privileged -it --net=host -v /dev/bus/usb:/dev/bus/usb jacquemont/robot_os bash

3. Open the robot software startup menu in the docker container:

./robot_start.sh

4. OPTIONAL - Open a new terminal in the Docker container:

sudo docker exec -it $(sudo docker ps -aqf "ancestor=jacquemont/robot_os") bash

3. Local Machine Setup (Run ROS2 locally)

1. Create a new workspace:

mkdir -p ~/colcon_ws/src && cd ~/colcon_ws/src

2. Clone the repository with the submodules:

git clone --recursive [email protected]:DJacquemont/BlockBuster.git .

4. Build the workspace:

cd ~/colcon_ws
source /opt/ros/humble/setup.bash
colcon build --symlink-install

5. Source the workspace:

source ~/colcon_ws/install/setup.bash

Getting Started

1. Robot HARDWARE

To start the robot hardware, execute the file robot_start.sh once connected to the onboard computer, or run the following command:

ros2 launch blockbuster_core launch_robot.launch.py activate_slam:=false activate_nav:=true activate_loc:=true  activate_cam:=true  activate_sm:=true

2. Robot SIMULATION (ONLY for AMD64 architecture)

To start the robot simulation, run the following command:

ros2 launch blockbuster_core launch_sim.launch.py activate_slam:=false activate_nav:=true activate_loc:=true  activate_cam:=true  activate_sm:=false

3. Other Nodes

3.1. Teleoperation

Start a teleoperation node in a terminal from the colcon_ws repository:

ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r __node:=teleop_node -r /cmd_vel:=/cmd_vel_key

Or with the joystick:

ros2 launch blockbuster_core joystick.launch.py

3.2. Rviz

Start Rviz in a new terminal from the colcon_ws repository with the right configuration:

rviz2

Open from the GUI the configuration file main.rviz to monitor the robot.