ROS2 entity robot dog APP navigation

Quick use

1. Power up the robot dog

Press the power switch on the side of the robot dog and wait for the robot dog to finish starting up. And connect the WiFi of the robot dog to the same LAN environment as your computer.

After the robot dog startup is complete, the lidar, imu, and robot dog joint status nodes have been automatically started.

If you find that you are unable to obtain data such as LIDAR, please close the Mechanical Dog Large programme and restart the chassis programme.

Close the big programme, restart the chassis as well as multi-level communication id modification can refer to the tutorial: 14. Lidar maping navigation \6. ROS2 environment entity robot dog state acquisition \ ROS2 environment to obtain the real joints of the robot dog data.pdf

2. Open the virtual machine

Note: Here the default virtual machine has been installed.

Open the virtual machine, enter the password: yahboom and then press the Enter key to enter the system desktop.

3. Starting ROSBridge

Go to the desktop system and open the folder.

Then double click on the cartoros2 folder

Then right-click in a blank space in the folder and select Open in Terminal

Then activate the environment by typing the following command in the terminal

source install/setup.bash

Press the Enter key when you have finished typing.

Then type the following command and press enter to start rosbridge

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ros2 launch rosbridge_server rosbridge_websocket_launch.xml

4. Launch navigation

Then press the shortcut key: ctrl + shift + t

In the newly opened terminal enter the command

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source install/setup.bash

ros2 launch yahboom_bringup Navigation_bringup.launch.py map_yaml:=/home/yahboom/cartoros2/data/maps/mymap.yaml map:=/home/yahboom/cartoros2/data/maps/mymap.pbstream

Then pressing the enter key can will allow you to navigate.

Press the enter key, at this time the robot dog urdf is activated.

5. APP control robot dog walking and navigation

Click the terminal and press the shortcut key: ctrl + shift + t

In the terminal, enter the command to start the point cloud publishing node:

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source install/setup.bash 
ros2 run laserscan_to_point_pulisher laserscan_to_point_pulisher

Click on the terminal and press the shortcut key: ctrl + shift + t

Enter the command in the terminal to launch the Locate Publishing node:

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source install/setup.bash 
ros2 launch robot_pose_publisher_ros2 robot_pose_publisher_launch.py

Click on the terminal and press the shortcut key: ctrl + shift + t.

In the terminal, enter the command to remotely connect to the Mechanical Dog, the current Mechanical Dog and the virtual machine are in the same LAN, the IP of the Mechanical Dog is: 192.168.2.79, in practice, it depends on the specific IP address of your own Mechanical Dog.

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ssh -p 22 pi@192.168.2.79

Press enter and type yes, then enter the login password of Robotics Dog: yahboom.

Then enter the command to start the camera in the terminal:

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ros2 launch usb_cam demo_launch.py 

Open mobile app ROS Robot

Enter the IP address of the VM, take the current VM IP as: 192.168.2.117 as an example, and also select the camera topic of the Mechanical Dog as /usb_cam/imge_raw/compress and select ros2.

Then scroll down a bit and click Connect.

Once you enter the map screen, you can see the map of the radar scan as well as the camera feed.

Click the Settings button to slide down the pop-up screen and click the Navigation button.

The following picture shows the screen to enter the navigation mode

Then click a target point on the underground and the robot dog can navigate normally. Where the yellow line bit navigation path.