Welcome to ROSMASTER M3 PRO repository

App Mapping and Navigation

1. Content Description

This course explains how to use the [ROS Robot] app to control the robot for mapping and navigation.

This section requires entering commands in the terminal. The terminal you choose depends on your motherboard type. This section uses the Raspberry Pi 5 as an example. For Raspberry Pi and Jetson-Nano motherboards, you'll need to open a terminal on the host computer and enter the command to enter the Docker container. Once inside the Docker container, enter the commands mentioned in this section in the terminal. For instructions on entering the Docker container from the host computer, refer to the product tutorial [Configuration and Operation Guide] - [Enter the Docker (Jetson-Nano and Raspberry Pi 5 users, see here).

For Orin boards, simply open the terminal and enter the commands mentioned in this section.

1.1. Preparation

You must first download the [ROS Rotbot] app on your phone. Android/iOS phone users, please scan the QR code to download the remote control software. iOS users can also search and download the ROSRobot mapping and navigation app from the App Store.

The robot and phone must be on the same local area network. This can be achieved by connecting to the same Wi-Fi network.

2. Mapping with the app

2.1. Program Startup

Enter the following command on the robot terminal to launch the robot app mapping.

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#Start the camera
ros2 launch slam_mapping app_camera.launch.py
#Choose one of the following three mapping methods
#Gmapping
ros2 launch slam_mapping app_Gmapping.xml
#Cartographer
ros2 launch slam_mapping app_Cartographer.xml
#Slam_Toolbox
ros2 launch slam_mapping app_Slam_Toolbox.xml

The mobile app will display the following image. Enter the car's IP address, using [zh] for Chinese and [en] for English. Select ROS2. In the Video Target area below, select /camera/rgb/image_raw/compressed. Finally, click [Connect].

Connected successfully. After connecting, the following display appears:

Use the wheel to slowly move the cart through the area you want to map. Then click Save Map, enter a map name, and click Submit to save the map.

The map is saved to:

• Raspberry Pi 5 and Jetson Nano boards:

In a running Docker container, /root/M3Pro_ws/src/M3Pro_navigation/map

• Orin board:

/home/jetson/M3Pro_ws/src/M3Pro_navigation/map

2.2. Launch Command Parsing

Code Path:

• Raspberry Pi 5 and Jetson Nano boards

The program code is in a running Docker container. The path in Docker is /root/M3Pro_ws/src/slam_mapping/launch/app_Gmapping.xml.

• Orin motherboard

The program code path is /home/jetson/M3Pro_ws/src/slam_mapping/launch/app_Gmapping.xml

Using the app_Gmapping.xml file as an example, we will explain which launch files are launched. The app_Gmapping.xml file is as follows:

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<launch>
    <include file="$(find-pkg-share rosbridge_server)/launch/rosbridge_websocket_launch.xml"/>
    <node name="laserscan_to_point_publisher" pkg="laserscan_to_point_publisher" exec="laserscan_to_point_publisher"/>
    <include file="$(find-pkg-share slam_mapping)/launch/gmapping.launch.py"/>
    <include file="$(find-pkg-share robot_pose_publisher_ros2)/launch/robot_pose_publisher_launch.py"/>
    <include file="$(find-pkg-share yahboom_app_save_map)/yahboom_app_save_map.launch.py"/>
</launch>

rosbridge_websocket_launch.xml: Used to launch the rosbridge WebSocket server for ROS (Robot Operating System)

laserscan_to_point_publisher: Node for publishing radar point cloud data to the app

gmapping.launch.py: Node for Gmapping mapping

robot_pose_publisher_launch.py: Node for publishing vehicle position information

yahboom_app_save_map.launch.py: Node for saving maps

3. App Navigation

3.1. Program Startup

Enter the following command on the car terminal to start the car chassis and radar.

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ros2 launch M3Pro_navigation base_bringup.launch.py

Enter the following command on the car terminal to start the camera.

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ros2 launch slam_mapping app_camera.launch.py

Enter the following command on the car terminal to start the navigation app.

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ros2 launch M3Pro_navigation app_Navigation2.xml map:=/root/M3Pro_ws/src/M3Pro_navigation/map/tea.yaml

Change map:=/root/M3Pro_ws/src/M3Pro_navigation/map/tea.yaml to the path where you save your map.

The mobile app displays the following image. Enter the car's IP address, using [zh] for Chinese and [en] for English. Select ROS2, select /camera/rgb/image_raw/compressed in the Video Target area, and click [Connect].

After successfully connecting, the following display appears:

As shown below, select the navigation interface.

Then, based on the actual position of the car, click [Set Initialization Point] to set an initial target point for the car. If the radar scanning area roughly overlaps with the actual obstacle, the position is accurate. As shown below,

Then, click [Set Navigation Point] to set a destination for the car. The car will then plan a path and move along it to the destination. As shown in the image below,

3.2. Instruction Analysis

Code Path:

• Raspberry Pi and Jetson-Nano Board

The program code is in the running Docker container. The path in Docker is /root/M3Pro_ws/src/M3Pro_navigation/launch/app_Navigation2.xml.

• Orin Board

The program code path is /home/jetson/M3Pro_ws/src/M3Pro_navigation/launch/app_Navigation2.xml.

app_Navigation2.xml file,

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<launch>
    <include file="$(find-pkg-share rosbridge_server)/launch/rosbridge_websocket_launch.xml"/>
    <node name="laserscan_to_point_publisher" pkg="laserscan_to_point_publisher" exec="laserscan_to_point_publisher"/>
    <include file="$(find-pkg-share robot_pose_publisher_ros2)/launch/robot_pose_publisher_launch.py"/>
    <node name="app_send_goal" pkg="laserscan_to_point_publisher" exec="app_send_goal"/>
    <include file="$(find-pkg-share M3Pro_navigation)/launch/navigation2.launch.py"/>
</launch>

rosbridge_websocket_launch.xml: Used to launch the rosbridge WebSocket server for ROS (Robot Operating System)

laserscan_to_point_publisher: Node for publishing radar point cloud data to the app

robot_pose_publisher_launch.py: Node for publishing vehicle position information

app_send_goal: Node for the app to publish navigation target point topics

navigation2.launch.py: Navi2 navigation-related programs