🤖 Robotics Assignment

✏️ Description

The aim of this project is to communicate and control a TURTLEBOT 2 over a local WiFi network. There are two parts to this project, the physical part where we utilise the Turtlebot, by using Kobuki Node in ROS1. The simulated part uses the same code but along with Gazebo Garden.

A Docker stack contains the following:

1. master - recieves perceptions from either a physical robot or a simulated one (robot), uses logic to generate commands and sends them back over a redis channel
2. robot - a ROS1 package used on the robot to recieve topics from Kobuki Node, and converts them and sends them over a Redis channel. (robot can also be used in simulated mode over Docker)
3. redis - used as the Redis server in the simulated version only, in the physical version, the robot has a redis server running on it.

🤔 How to run this code (V2)

Make sure you have docker & docker-compose installed

☁️ Simulated Version

1. Check the REDIS_URL in the .env file (Should be redis for the simulated redis environment)

2. Uncomment everything below # # For simulated version in the docker-compose.yml file.

3. Navigate to robot/src/listener.py and change #!/usr/bin/env python to #!/usr/bin/env python3 (Very first line of the file)

4. Run the master from your computer docker-compose up (Might take a little while on the first run)

🤖 Physical Version

1. Check the REDIS_URL in the .env file (Should be 192.168.0.107 for the robot)

2. Copy over the files (From your local machine): rsync -av ./robot/* [email protected]:/home/ubuntu/catkin_make_ws/src/pub_sub_testing

3. SSH into the robot and run the setup script (From the robot):

   • (Windows): cd /home/ubuntu/catkin_make_ws/src/pub_sub_testing && dos2unix init.sh && bash init.sh
   • (Mac & Linux): cd /home/ubuntu/catkin_make_ws/src/pub_sub_testing && bash init.sh

4. Open up four shells in the robot and run the following:

   • roslaunch kobuki_node minimal.launch --screen
   • roslaunch kobuki_keyop safe_keyop.launch --screen
   • roslaunch astra_launch astra.launch
   • roslaunch pub_sub_testing pub_sub_testing.launch

5. Run the master from your computer docker-compose up (Might take a little while on the first run)

🪲 Troubleshooting

If you want to shell into a particular container for debugging purposes, you can run the following command:

docker exec -it [container-name] bash

E.g.

docker exec -it robotics-assignment-ros1-1 bash

If you want to test messages going from ROS1 through the system and back, you can run (From ROS1 container OR Robot) rostopic pub /debug/percept std_msgs/String "Hello"

If you want to test a simulated image transfer & processing, spin up the workspace in Simulated Mode, and shell into the master:

docker exec -it robotics-assignment-master-1 bash

Navigate to the src folder and run the image-test.py file

cd src && python image-test.py

This will send an image over a Redis HSet, exactly how the physical version would.

``

🏗️ Architecture

This section contains a deployment diagram of the current system architecture between the Physical Robot and Docker

stateDiagram-v2
    ros_1_listener: ROS1
    kobuki_node: Kobuki Node
    channel: Channel
    hash_set: Hash Set
    virtual_body: Virtual Body
    main: Main Thread
    cleanup: Cleanup Thread
    check_redis: Check Redis
    image_old: Image older than 5s
    remove: Remove Image
    process_image: Process Image
    convert_to_cmd: Convert to Command
    send_command: Send Command
    state image_exists <<choice>>

    state Robot {
        state cleanup {
            [*] --> check_redis
            check_redis --> hash_set
            hash_set --> image_old

            image_old --> image_exists: yes
            image_old --> [*]: no
            image_exists --> remove
            remove --> [*]

        }
        state main {
            kobuki_node --> ros_1_listener
            ros_1_listener -->  hash_set: base64 Image
            ros_1_listener --> channel: Image ID
            state Redis {
                channel
                hash_set
            }
        }
    }
    Robot --> Docker: Local Network
    state Docker {
        state Master {
            [*] --> virtual_body
            virtual_body --> Yolov5
            Yolov5 --> send_command
            send_command --> [*]
            state Yolov5 {
                [*] --> process_image
                process_image --> convert_to_cmd
                convert_to_cmd --> [*]
            }
        }
    }

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Deployment Diagram

Since the Physical robot's dated software can only run ROS1, we set up a ROS1 container that can listen and talk to the robot, the ROS1 container sends the information it receives to ROS2 over a Bridge, which allows bidirectional communication between ROS1 and ROS2.

The procedure of finding people and following the first recognized person:

stateDiagram-v2
    state human_detected_if_state <<choice>>
    state outside_center_if_state <<choice>>
    state away_robot_if_state <<choice>>
    state full_rotation_if_state <<choice>>
    state act_if_state <<choice>>

    state join_state <<join>>

    human_detected: Human Detected?
    rotate: Rotate
    full_rotation: Full Rotation
    get_id: Get ID
    get_coords: Get Coordinates
    outside_center: Outside center?
    away_robot: Away from Robot?
    adjust_rotation: Adjust Rotation
    move_forward: Move Forward
    sleep: Sleep

    [*] --> Scan

    state Scan {
        [*] --> human_detected
        human_detected --> human_detected_if_state
        human_detected_if_state --> [*] : yes
        human_detected_if_state --> rotate: no
        rotate --> human_detected
        rotate --> full_rotation
        full_rotation --> full_rotation_if_state
        full_rotation_if_state --> sleep: yes
        full_rotation_if_state --> rotate: no
        sleep --> rotate
    }

    Scan --> Detect

    state Detect {
        [*] --> get_id
        get_id --> get_id: for each person
        get_id --> get_coords: lowest ID
        get_coords --> [*]
    }

    Detect --> Act: coordinates

    state Act {
        [*] --> act_if_state: position
        act_if_state --> outside_center
        act_if_state --> away_robot
        outside_center --> outside_center_if_state
        outside_center_if_state --> adjust_rotation: yes
        adjust_rotation --> outside_center
        outside_center_if_state --> join_state: no

        away_robot --> away_robot_if_state
        away_robot_if_state --> join_state: no
        away_robot_if_state --> move_forward: yes
        join_state --> [*]
    }

    Act --> Scan

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State Diagram

📄 Available Topics (On Kobuki Node)

The following topics are available when running Kobuki Node:

📣 Published topics:

Topic	Message Type
/camera/depth/image	[sensor_msgs/Image]
/camera/rgb/image_raw	[sensor_msgs/Image]
/camera/depth_registered/sw_registered/image_rect	[sensor_msgs/Image]
/camera/depth_registered/points	[sensor_msgs/PointCloud2]
/cmd_vel_mux/parameter_descriptions	[dynamic_reconfigure/ConfigDescription]
/mobile_base/events/robot_state	[kobuki_msgs/RobotStateEvent]
/mobile_base/debug/raw_data_stream	[std_msgs/String]
/tf	[tf2_msgs/TFMessage]
/odom	[nav_msgs/Odometry]
/camera/depth/image_raw	[sensor_msgs/Image]
/mobile_base/sensors/core	[kobuki_msgs/SensorState]
/camera/rgb_rectify_color/parameter_updates	[dynamic_reconfigure/Config]
/camera/depth_registered/camera_info	[sensor_msgs/CameraInfo]
/camera/camera_nodelet_manager/bond	[bond/Status]
/camera/depth/camera_info	[sensor_msgs/CameraInfo]
/keyop_vel_smoother/parameter_updates	[dynamic_reconfigure/Config]
/mobile_base/events/button	[kobuki_msgs/ButtonEvent]
/camera/depth/image_rect	[sensor_msgs/Image]
/camera/projector/camera_info	[sensor_msgs/CameraInfo]
/camera/rgb/camera_info	[sensor_msgs/CameraInfo]
/keyop_vel_smoother/parameter_descriptions	[dynamic_reconfigure/ConfigDescription]
/mobile_base/events/power_system	[kobuki_msgs/PowerSystemEvent]
/camera/depth_rectify_depth/parameter_updates	[dynamic_reconfigure/Config]
/cmd_vel_mux/active	[std_msgs/String]
/diagnostics	[diagnostic_msgs/DiagnosticArray]
/cmd_vel_mux/parameter_updates	[dynamic_reconfigure/Config]
/mobile_base/events/digital_input	[kobuki_msgs/DigitalInputEvent]
/cmd_vel_mux/safety_controller	[geometry_msgs/Twist]
/camera/depth_registered/image_raw	[sensor_msgs/Image]
/mobile_base/events/wheel_drop	[kobuki_msgs/WheelDropEvent]
/camera/depth_registered/sw_registered/camera_info	[sensor_msgs/CameraInfo]
/mobile_base/debug/raw_control_command	[std_msgs/Int16MultiArray]
/joint_states	[sensor_msgs/JointState]
/rosout	[rosgraph_msgs/Log]
/mobile_base/debug/raw_data_command	[std_msgs/String]
/mobile_base/sensors/imu_data_raw	[sensor_msgs/Imu]
/mobile_base/sensors/dock_ir	[kobuki_msgs/DockInfraRed]
/rosout_agg	[rosgraph_msgs/Log]
/camera/driver/parameter_descriptions	[dynamic_reconfigure/ConfigDescription]
/mobile_base/events/bumper	[kobuki_msgs/BumperEvent]
/cmd_vel_mux/keyboard_teleop	[geometry_msgs/Twist]
/mobile_base/commands/velocity	[geometry_msgs/Twist]
/camera/ir/image	[sensor_msgs/Image]
/diagnostics_toplevel_state	[diagnostic_msgs/DiagnosticStatus]
/mobile_base/controller_info	[kobuki_msgs/ControllerInfo]
/camera/depth_registered/sw_registered/image_rect_raw	[sensor_msgs/Image]
/mobile_base/commands/motor_power	[kobuki_msgs/MotorPower]
/mobile_base/events/cliff	[kobuki_msgs/CliffEvent]
/camera/depth/image_rect_raw	[sensor_msgs/Image]
/camera/depth_rectify_depth/parameter_descriptions	[dynamic_reconfigure/ConfigDescription]
/camera/rgb/image_rect_color	[sensor_msgs/Image]
/keyop_vel_smoother/raw_cmd_vel	[geometry_msgs/Twist]
/camera/rgb_rectify_color/parameter_descriptions	[dynamic_reconfigure/ConfigDescription]
/mobile_base/sensors/imu_data	[sensor_msgs/Imu]
/camera/driver/parameter_updates	[dynamic_reconfigure/Config]
/mobile_base_nodelet_manager/bond	[bond/Status]
/camera/ir/camera_info	[sensor_msgs/CameraInfo]
/mobile_base/version_info	[kobuki_msgs/VersionInfo]
/camera/depth/points	[sensor_msgs/PointCloud2]
/diagnostics_agg	[diagnostic_msgs/DiagnosticArray]

📡 Subscribed topics:

Topic	Message Type
/tf	[tf2_msgs/TFMessage]
/odom	[nav_msgs/Odometry]
/mobile_base/events/wheel_drop	[kobuki_msgs/WheelDropEvent]
/mobile_base/commands/reset_odometry	[std_msgs/Empty]
/tf_static	[tf2_msgs/TFMessage]
/diagnostics	[diagnostic_msgs/DiagnosticArray]
/cmd_vel_mux/safety_controller	[geometry_msgs/Twist]
/camera/camera_nodelet_manager/bond	[bond/Status]
/mobile_base/commands/external_power	[kobuki_msgs/ExternalPower]
/rosout	[rosgraph_msgs/Log]
/keyop/teleop	[kobuki_msgs/KeyboardInput]
/kobuki_safety_controller/disable	[std_msgs/Empty]
/mobile_base/commands/sound	[kobuki_msgs/Sound]
/mobile_base/events/bumper	[kobuki_msgs/BumperEvent]
/cmd_vel_mux/keyboard_teleop	[geometry_msgs/Twist]
/mobile_base/commands/digital_output	[kobuki_msgs/DigitalOutput]
/mobile_base/commands/velocity	[geometry_msgs/Twist]
/mobile_base/commands/led1	[kobuki_msgs/Led]
/mobile_base/commands/led2	[kobuki_msgs/Led]
/kobuki_safety_controller/enable	[std_msgs/Empty]
/mobile_base/commands/motor_power	[kobuki_msgs/MotorPower]
/mobile_base/events/cliff	[kobuki_msgs/CliffEvent]
/keyop_vel_smoother/raw_cmd_vel	[geometry_msgs/Twist]
/mobile_base_nodelet_manager/bond	[bond/Status]
/kobuki_safety_controller/reset	[std_msgs/Empty]
/mobile_base/commands/controller_info	[kobuki_msgs/ControllerInfo]