Multi Driving Robot Control System

Watch the full video here

This was a team project with 6 members.
For a full project description, please refer to the README of the forked repository.

---

My Role in the Project

• Designing scenarios for task planning
• Setting up ROS Domain Bridge for multi-robot control
• Writing communication interfaces between the control system, robot system, and GUI
• Modifying the behavior tree (in XML using nav2)

Tech Stack

Development Environment
Technology
Communication

Project Duration

December 26, 2023 - January 25, 2024

---

Design

Data Structure

Multi-Robot Control

Task Planning

Task Request Scenario

Task Scheduling Scenario

Task Execution Scenario

Navigation

Behavior Tree

• Based on a behavior tree provided by nav2 (https://navigation.ros.org/behavior_trees/trees/nav_to_pose_and_pause_near_goal_obstacle.html), this BT:
  • Modifies the reactive fallback condition to 'IsStuck' (replacing 'GoalUpdated'), due to:
    • The goal not being updated during navigation in this project.
  • Incorporates 'DriveOnHeading' into the RoundRobin sequence due to:
    • The robot's occasional inability to move, even in the absence of obstacles, where actions such as 'backup', 'wait', or 'spin' do not resolve the situation.

---

How to Run

Prerequisites

• ROS2 Humble version was installed and used. = PinkWink's Minibot hardware and source code (https://github.com/PinkWink/pinklab_minibot_robot) were utilized. The udev was set in the minibot_bringup/scripts file.
• For motor control, PinkWink's Arduino code (https://github.com/PinkWink/pinklab_minibot_robot_firmware) was used.
• A custom YD LiDAR driver (https://github.com/byeongkyu/ydlidar_ros2_driver) was employed for LiDAR usage.
• Raspberry Pi and PC with Ubuntu 22.04 installed were used to operate the minibot.
• All PCs/Raspberry Pis were connected to the same network for ROS2 communication.
• After cloning the project, please build in the nursing_home directory.

git clone https://github.com/addinedu-ros-3rd/ros-repo-1.git
cd ros-repo-1/nursing_home
colcon build
source ./install/local_setup.bash

• The actual map must match the map file shape.
  • It's recommended to configure the map manually and replace the files under /nursing_home/src/main_pkg/map and /nursing/home/src/robot_pkg/map.
  • In this project, the map file was created as follows:

  # RPi
  ros2 launch minibot_bringup bringup_robot.launch.py
  
  # RPi
  ros2 launch minibot_navigation2 map_building.launch.py
  
  # PC
  rviz2 -d `ros2 pkg prefix minibot_navigation2`/share/minibot_navigation2/rviz/map_building.rviz
  
  # RPi
  ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r cmd_vel:=base_controller/cmd_vel_unstamped
  
  # Save Map
  # RPi
  ros2 run nav2_map_server map_saver_cli -f ~/<pinkbot_ws>/<map_name>
  

Multi Robot Run

1) DB config

• Create config.ini in nursing_home/src/main_pkg/utils

[dev]
host = DB Host
port = DB port
user = DB user
password = DB password
database = DB database name

• source mysqldump

source create_and_init.sql

2) Setting ROS_DOMAIN_ID and ROS2 Environment

If you use bridge_config.yaml as is, it's recommended to add the following lines to ~/.bashrc, and then source ~/.bashrc.

• Monitoring PC

export ROS_DOMAIN_ID = 91
source /opt/ros/humble/setup.bash
source ~/nursing_home/install/local_setup.bash

• Robot1 RPi

export ROS_DOMAIN_ID = 93
source /opt/ros/humble/setup.bash
source ~/pinkbot/install/local_setup.bash

• Robot1 PC

export ROS_DOMAIN_ID = 93
source /opt/ros/humble/setup.bash
source ~/pinkbot/install/local_setup.bash
source ~/nursing_home/install/local_setup.bash

• Robot2 RPi

export ROS_DOMAIN_ID = 94
source /opt/ros/humble/setup.bash
source ~/pinkbot/install/local_setup.bash

• Robot2 PC

export ROS_DOMAIN_ID = 94
source /opt/ros/humble/setup.bash
source ~/pinkbot/install/local_setup.bash
source ~/nursing_home/install/local_setup.bash

• Robot3 RPi

export ROS_DOMAIN_ID = 97
source /opt/ros/humble/setup.bash
source ~/pinkbot/install/local_setup.bash

• Robot3 PC

export ROS_DOMAIN_ID = 97
source /opt/ros/humble/setup.bash
source ~/pinkbot/install/local_setup.bash
source ~/nursing_home/install/local_setup.bash

3) RPi: each robot run & camera start

• terminal 1

ros2 launch minibot_bringup bringup_robot.launch.py

• terminal 2

sudo chmod 777 /dev/video0
ros2 run v4l2_camera v4l2_camera_node

4) Robot PC: navigation start (yaml file dir: nursing_home/src/main_pkg/map)

• terminal 1

ros2 launch minibot_navigation2 bringup_launch.py map:=home.yaml

• terminal 2

ros2 run robot_pkg robot_controller

5) Monitoring PC: GUI/Main Controller run

• terminal 1

ros2 run main_pkg main_controller

• terminal 2

ros2 run ui_pkg monitoring

• terminal 3 (ROS Domain Bridge reference: https://github.com/ros2/domain_bridge)

sudo apt install ros-humble-domain-bridge
ros2 run domain_bridge domain_bridge bridge_config.yaml