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Function Introduction

OriginBot is an intelligent robot open source kit, and also a community co-built open source project, designed to let every participant enjoy the fun of robot development. This project is the minimum function system of OriginBot robot, which can accept /cmd_vel command to control robot movement and feedback /Odom information. This system includes the following three function packages:

• originbot_base: Robot chassis drive
• originbot_driver: Robot serial drive package
• originbot_msgs: OriginBot custom communication interface

Bill of Materials

Robot Name	Manufacturer	Reference Link
OriginBot Intelligent Robot	GuYueJu	Purchase Link
RDK X3 Robot	Multiple Manufacturers	Purchase Link

Instructions

Preparation

Refer to the user guide on OriginBot robot's official website to complete the hardware assembly of the robot.

Installation

Click on the upper right corner of the NodeHub OriginBot project for fast deployment, connect to the robot through terminal or VNC, copy and run the following commands on the RDK system to install the minimal system of OriginBot robot.

tros foxy:

sudo apt update
sudo apt install -y tros-originbot-base tros-serial tros-originbot-msgs

tros humble:

sudo apt update
sudo apt install -y tros-humble-originbot-base tros-humble-serial tros-humble-originbot-msgs

Operation

Start Robot

Enter the following command in the terminal:

tros foxy:

source /opt/tros/setup.bash
ros2 launch originbot_base robot.launch.py 

tros humble:

source /opt/tros/humble/setup.bash
ros2 launch originbot_base robot.launch.py 

After successful execution, you will see the following prompt

root@ubuntu:/userdata# ros2 launch originbot_base robot.launch.py
[INFO] [launch]: All log files can be found below /root/.ros/log/2023-07-09-16-49-58-754723-ubuntu-6891
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [originbot_base-1]: process started with pid [6893]
[INFO] [static_transform_publisher-2]: process started with pid [6895]
[INFO] [static_transform_publisher-3]: process started with pid [6897]
[INFO] [static_transform_publisher-4]: process started with pid [6899]
[originbot_base-1] Loading parameters:
[originbot_base-1]              - port name: ttyS3
[originbot_base-1]              - correct factor vx: 0.8980
[originbot_base-1]              - correct factor vth: 0.8740
[originbot_base-1]              - auto stop on: 0
[originbot_base-1]              - use imu: 0
[static_transform_publisher-4] [INFO] [1688892599.398482288] [static_transform_publisher_wrXGY3d4cJPrfMMt]: Spinning until killed publishing transform from '/base_link' to '/imu_link'
[static_transform_publisher-2] [INFO] [1688892599.404346159] [static_transform_publisher_f8bfUI3IdvTPSv5L]: Spinning until killed publishing transform from '/base_footprint' to '/base_link'
[originbot_base-1] [INFO] [1688892599.417785811] [originbot_base]: originbot serial port opened
[originbot_base-1] [INFO] [1688892599.919219715] [originbot_base]: OriginBot Start, enjoy it.

Keyboard Control Robot

Run the following command in another terminal to enable keyboard control:

tros foxy:

source /opt/tros/setup.bash
ros2 run teleop_twist_keyboard teleop_twist_keyboard 

tros humble:

source /opt/tros/humble/setup.bash
ros2 run teleop_twist_keyboard teleop_twist_keyboard

After successful execution, the following prompts will appear:

This node takes keypresses from the keyboard and publishes them
as Twist messages. It works best with a US keyboard layout.
---------------------------
Moving around:
   u    i    o
   j    k    l
   m    ,    .

For Holonomic mode (strafing), hold down the shift key:
---------------------------
   U    I    O
   J    K    L
   M    <    >

t : up (+z)
b : down (-z)

anything else : stop

q/z : increase/decrease max speeds by 10%
w/x : increase/decrease only linear speed by 10%
e/c : increase/decrease only angular speed by 10%

CTRL-C to quit

currently:      speed 0.5       turn 1.0

Control the robot's movement using the corresponding keys on the keyboard.

Interface Description

Topics

Subscribed Topics

Name	Message Type	Description
/cmd_vel	geometry_msgs/msg/Twist	Publish velocity commands to control the robot's movement

Published Topics

Name	Message Type	Description
/originbot_status	originbot_msgs/msg/OriginbotStatus	Publish OriginBot robot status
/odom	nav_msgs/msg/Odometry	Publish OriginBot odometry information
/tf_static	tf2_msgs/msg/TFMessage	Publish OriginBot related coordinate information

Parameters

Parameter Name	Type	Description	Required	Default Value
auto_stop_on_arg	bool	Enable automatic stop function	No	false
use_imu_arg	bool	Enable IMU	No	false
pub_odom_arg	bool	Enable publishing Odom topic	No	true
correct_factor_vx_arg	float	Linear velocity correction parameter	No	0.898
correct_factor_vth_arg	float	Angular velocity correction parameter	No	0.874

FAQ