IC382-ROS-STM32

This repository is used to develop a ROS base controller with STM32 for AGV. Noted that this repository is developed and tested by ROS-Noetic and Ubuntu Server 18.04 64 bit in raspberry pi 3B+.

Installation

Please install the following packages when ROS Noetic is installed properly.

1. ROS teleop_twist_keyboard

sudo apt-get install ros-noetic-teleop-twist-keyboard

rosrun teleop_twist_keyboard teleop_twist_keyboard.py

2. ROS rosserial

sudo apt install ros-noetic-rosserial

3. ROS rosserial_stm32

cd src
git clone https://github.com/yoneken/rosserial_stm32.git
cd ..
catkin_make

Compile STM32CUBMX code

1. User chatter as an example

cd IC382-ROS-STM32/src/rosserial_stm32/src/ros_lib/examples
sudo cp -avr chatter/ ~/development/STM32_cubmx_program/
cd ~/development/STM32_cubmx_program/chatter
rosrun rosserial_stm32 make_libraries.py .

**You may see a question about choosing a non-unique executable, please choose the one in src/rosserial. Usually, it is option 2.

**Please check your make_libraries.py and make sure it is suitable for python3.

**The pre-build STM32_cubmx_program is packed into this repository for reference.

Test rosserial with STM32

Make sure the STM32 usb port is connected to raspberry pi usb port.

1. ROSCORE

cd development/agv_base_control
roscore

2. Set authority to serial port

sudo chmod 777 /dev/ttyACM0  ##Note that ttyACM0 may not fit yours

3. Bring up ROS serial node

rosrun rosserial_python serial_node.py _port:=/dev/ttyACM0 _baud:=115200

4. Checkout ROS message

rostopic echo <your_topic>

5. Visualize nodes relationshiop

rosrun rqt_graph rqt_graph

System startup procedure

Make sure the STM32 usb port is connected to raspberry pi usb port.

This part is very similar to "Test rosserial with STM32". However, some steps are removed because they are not necessary when the connection is confirmed.

A. Startup each module individually

1. Activate roscore

cd 
roscore

2. Set authority to serial port

sudo chmod 777 /dev/ttyACM0

3. Bring up ROS serial node

rosrun rosserial_python serial_node.py _port:=/dev/ttyACM0 _baud:=115200

4. Start teleop_twist_keyboard control

rosrun teleop_twist_keyboard teleop_twist_keyboard.py

5. Start encoder-odometry conversion

rosrun robot_encoder_odom robot_encoder_odom_node

B. Startup ALL NODES together

1. Start up the base control system Without odom. You may need to disable RVIZ if you plan to run in raspberry pi.

cd development/agv_base_control
source devel/setup.bash
sudo chmod 777 /dev/ttyACM0
roslaunch robot_encoder_odom agv_base_control_odom.launch

2. Start up the base control system With odom. You may need to disable RVIZ if you plan to run in raspberry pi.

cd development/agv_base_control
source devel/setup.bash
sudo chmod 777 /dev/ttyACM0
roslaunch robot_encoder_odom agv_base_control_odom.launch

**For the usage of teleop_twist_keyboard, please refer to http://wiki.ros.org/teleop_twist_keyboard.

RVIZ Visualization

ROS Node Graph