Diadem Pixhawk Release

ROS2 Humble Release

Welcome to the official public repository for Diadem by RigBetel Labs.

Purpose:
This repository hosts essential documentation and code for Diadem Robot, facilitating transparency and collaboration.

Privacy:
Certain sensitive packages and scripts have been excluded to maintain privacy standards.

Contents:

Documentation: Detailed guides and technical specifications.
Codebase: Essential source code for Diadem Robot.
Resources: Supplementary materials and dependencies.

Contact:
For inquiries and collaboration opportunities, reach out to RigBetel Labs.

1. Package Description

1.1 diadem_description

Holds the robot description including URDF, STL, config files for RVIZ, and Gazebo.

File	Description	Nodes Launched
display.launch.py	Launches Gazebo simulation with all necessary plugins and state publishers, along with RViz.	robot_state_publisher, joint_state_publisher, rviz2, gazebo_ros
rviz.launch.py	Launches RViz2 with necessary configuration.	rviz2 with configured settings
state_publisher.launch.py	Launches state publishers for the robot, including robot_state_publisher and joint_state_publisher nodes.	robot_state_publisher, joint_state_publisher

1.2 diadem_firmware

Provides sensor and actuation topics.

File	Description	Nodes Launched
bringup.launch.py	Launches the joy node and auto joy node for complete joystick and waypoint-based control of the robot using a joystick.	joy_node, auto_joy_teleop
hubble_scripts.launch.py	Provides feedback to the controller about network data and navigation data, including network_pub node and goal_status_publisher node.	network_publisher (freezed binaries), goal_status_publisher (freezed binaries)
mavros_launch.py	Launches Mavros Node	Mavros
micro_ros.launch.py	Launches MicroROS	Micro ROS

1.3 diadem_gazebo

Simulation environment for tortoisebotpromax in Gazebo.

File	Description	Nodes Launched
gazebo.launch.py	Launches a Gazebo environment with a specified world, along with the gazebo_ros node.	gazebo_ros node
spawn_robot.launch.py	Launches a Gazebo environment with a specified world and spawns the robot with necessary plugins using gazebo_ros node.	gazebo_ros node, robot_state_publisher, joint_state_publisher, gazebo_controllers

2. Simulation

For simulation, below process needs to be done in laptop/PC with ROS2 humble installed in it.

Clone the diadem repository into your workspace:

cd ~/ros2_ws/src  # Assuming ros2_ws is the name of the workspace
git clone -b humble-pixhawk-release https://github.com/rigbetellabs/diadem.git

Install dependent packages:

cd ~/ros2_ws/src/diadem
cat requirements.txt | xargs sudo apt-get install -y

Build the workspace:

cd ~/ros2_ws
colcon build

To Launch simulation:

ros2 launch diadem_gazebo spawn_robot.launch.py

The gazebo world looks like this:

Now you can teleop the robot by publishing the msgs on /cmd_vel topic

3. Real Robot Instruction

Important

Warning: When the robot is first powered on, it starts in demo mode and can be manually controlled using the RC. However, without a WiFi connection, critical features like mission planning, SSH, RViz visualization, and development mode are unavailable. To unlock full functionality, including remote access, the initial WiFi setup must be completed.

3.1 Initial Wifi Setup

Follow the steps below to connect the robot to your desired Wifi network

1. Create a mobile hotspot

Initiate a hotspot from your smartphone/laptop with the credentials

Hotspot Name: admin
Hotspot Password: adminadmin

2. Start the robot

Power on the robot and wait until it connects to your hotspot network

On powering on:	When connected to hotspot:

3. SSH into the robot

Connect your laptop/remote device to the same hotspot

Open a new terminal, and enter the SSH credentials

# Method 1-ssh using user name 
ssh [email protected]  
pwd: "rbl@2020"

#Method 2 -ssh using ip address 
ssh [email protected]  
pwd: "rbl@2020"

Tip

IP can be seen on the display of robot once connected with WiFi

Method1	Method2

4. Connect to Wifi

Enter the following command on the ssh terminal to check available networks

sudo nmcli dev wifi list --rescan yes

Connect to your wifi network

sudo nmcli device wifi connect "your-wifi-name" password "your-wifi-password"

Important

This will close the ssh pipeline and no response will be recieved over it further. Wait for about 30 seconds for robot to be connected to your wifi, once connected it will show the wifi name along with the IP address on the robot display.

4. SSH using your Wifi

Now the robot is connected to your Wifi network! You can now shutdown your mobile hotspot, connect your remove device to the same wifi and access the robot using SSH:

3.2 Launch Sequence

Switching mode in robot

Modes of robot.

There are two modes of robot

1. Demo Mode - ROS2 nodes are automatically launched during the robot's startup/boot process.

Note

By default, the robot is configured to start automatically in Demo Mode, running ROS without requiring a Wi-Fi network. To start the robot in Demo Mode (i.e., to automatically launch the desired ROS processes on boot), use the following command:

# For going into demo mode
cd ros2_ws/src/diadem
./demo.sh

2. Development Mode - No ROS2 nodes are launched during startup.

Note

To switch to Development Mode, which will prevent any ROS processes from starting automatically, allowing you to test your launch files, SSH into the robot and execute the necessary commands to disable automatic startup.

# For going into Development mode
cd ros2_ws/src/diadem
./development.sh

To launch only sensors and actuators without navigation and odometry:

ros2 launch diadem_firmware bringup.launch.py

By default realsense launch is set to False, launch the script with realsense:=True Argument to get the realsense up.

3.3 RC Control Mode

RC Control is operated by default on bootup. Turn on the Radiolink controller and set its mode to RC mode to start controlling the robot using RC.

Motor Control Modes

Criteria	Direct Control	Quick Adaptive Control	Smooth Adaptive Control
RC and CMD Control	☑	☑	☑
Fast Reaction Time	Fastest	Moderate	Slowest
Closed Loop System	False	True	True
Inertial Jerks	Too Jerky	Moderate Jerk	Least Jerky

Robot Control Modes

Control Method	Description	WiFi Requirement	Compatibility with PID Modes
RF Control	Works directly with Radiolink RC controller without the need for any WiFi network.	Not Required	Direct Control Quick Adaptive Control Smooth Adaptive Control
ROS-based Teleop Control	Subscribes to `cmd_vel` topic to actuate the vehicle. Requires WiFi network to work.	Required	Direct Control Quick Adaptive Control Smooth Adaptive Control
Pixhawk-based Control	Uses Pixhawk to gain missions and converts the data to `cmd_vel`, which is accessible to ROS.	Required	Direct Control Quick Adaptive Control

Custom PID Mode ⚠️

[!WARNUNG]🚫This mode is not recommended as the PID values are tuned by us. If you choose to use custom values, ensure that the robot is kept above ground.🚫

To add custom PID values and save them, use the following commands:

Add Custom PID Values:

ros2 topic pub -1 /pid/constants std_msgs/msg/Float32MultiArray "{data: [1.1, 2.2, 3.3]}"

Save the Custom PID Values:

ros2 topic pub -1 /pid/custom/save std_msgs/msg/Float32MultiArray "{data: [1.1, 2.2, 3.3]}"

The custom PID setup button is disabled by default and can only be accessed upon enabling it purposefully.

ros2 topic pub -1 /pid/custom/enable std_msgs/Bool "data: true"

When enabled, you can press the button shown above to switch to your custom PID mode with your custom PID values.

3.4 ROS-based Teleoperation Mode

ROS communication works on the WiFi Network. Make sure to arrange the WiFi network before starting the robot. Once connected to the network, SSH into the PC and launch:

ros2 launch diadem_firmware bringup.launch

IMPORTANT: This launch file is initiated by default on bootup of the robot. If the startup service is kept activated, you do not need to manually launch the files.

Now you can access the topics on the robot. Teleoperate the robot using teleop_twist_keyboard:

ros2 run teleop_twist_keyboard teleop_twist_keyboard

3.5 ROS-based Pixhawk Control Mode

We be using Mavros package for interfacing with Pixhawk. Following are the steps to setup MAVROS and QGC (Q Ground Control which is mission planning application for any MAVLink enabled AGV)

Check your robot's connection via Pixhawk. It should be connected as shown below in USB Ports Configuration.

Method 1: Using QGroundControl

Important

The robot can be controlled directly via QGroundControl. Follow the steps below to connect the robot via QGC:

1. Install QGroundControl

Download the app from here (Compatible with Windows, macOS, Ubuntu, and Android)

2. Navigate to Application Settings > Comm Links > Add

3. Generate a new UDP Connection

4. Provide IP Addresses

Important

Enter the IP address of the robot. How to obtain IP?

5. Establish a connection

Important

There are chances when it is unable to establish a connection the very first time. In that scenario, delete the connection and follow the steps again.

Once connected, you will be able to see the robot's status and coordinates on the QGC page. Now you can control the vehicle and send missions through QGC.

Method 2: Using ROS Scripts

We have provided the API Script along with the package to enable the GPS navigation using ROS scripts

Navigate to diadem_firmware/scripts/waypoint_navigation.py to get access to the API

Link to Documentation

Important

To enable Obstacle avoidance in GPS navigation using Realsense d435i, follow the instructions provided here

3.6 USB Ports Configuration

IMPORTANT: Connect the USB ports as per the following diagram:

3.7 Get IP Address of Robot

To find the IP address of the robot, run the following command on the robot's PC:

hostname -I

This will display the IP address of the robot. Use this IP address to SSH into the robot or connect it to your ROS network.

Visualizing in remote PC

ROS domain id for robot is set to 169. So to visualize robot ros topics in remote PC we need to enter below command in terminal of remote pc everytime we open a new terminal.

export ROS_DOMAIN_ID=169

5. Features via ROS Topics

The list of topics is crucial for low-level control and diagnostic purposes. Here is a comprehensive list:

Low-Level ROS Topics Subcriber

`/motor_control/enable`

Type: std_msgs/Bool
Description: Enables or disables individual motor control. Ensure this is set to true to control the motors individually.

Warning

Enabling this mode will allow you to control the motors of the robot individually. Make sure you have lifted the robot to a higher level before using this feature to prevent an accidents

`/motor_control/right_front`

Type: std_msgs/Int32
Description: Controls the right front motor of the robot. Make sure /motor_control/enable is set to true for this to take effect.

`/motor_control/left_front`

Type: std_msgs/Int32
Description: Controls the left front motor of the robot. Make sure /motor_control/enable is set to true for this to take effect.

`/motor_control/right_back`

Type: std_msgs/Int32
Description: Controls the right back motor of the robot. Make sure /motor_control/enable is set to true for this to take effect.

`/motor_control/left_back`

Type: std_msgs/Int32
Description: Controls the left back motor of the robot. Make sure /motor_control/enable is set to true for this to take effect.

To control a motor:

ros2 topic pub -1 /motor_control/right_front std_msgs/msg/Int32 "{data: 100}"

Note

The values range from -255 to 255 with 255 being the highest speed in forward direction and -255 being the highest speed in backward direction.

`/robot/nav_status`

Type: std_msgs/Int32
Description: Provides navigation status information of the robot.

`/robot/network_status`

Type: std_msgs/String
Description: Provides network connectivity status of the robot.

`/pid/mode`

Type: std_msgs/Int32
Description: This topic is of type int and is used to control the Proportional-Integral-Derivative (PID) controller.
- 0 - Stop PID control
- 1 - Fast PID control
- 2 - Smooth PID control
- 3 - Supersmooth PID control

Here's an example:

ros2 topic pub -1 /pid/control std_msgs/msg/Int32 "{data: 1}"

`/pid/custom/enable`

Type: std_msgs/Bool
Description: Controls the enabling/disabling of custom PID modes.

`/pid/constants`

Type: std_msgs/Float32MultiArray
Description: Updates the PID constants.

`/pid/custom/save`

Type: std_msgs/Float32MultiArray
Description: Saves custom PID configurations.

`/diagnostics/test`

Type: std_msgs/Int32
Description: Runs diagnostics tests on the robot. It serves the purpose of identifying and addressing any issues that may arise during the robot's operation. For detailed diagnostics procedures, refer to the documentation.

`/cmd_vel`

Type: geometry_msgs/Twist
Description: Provides velocity commands in linear and angular dimensions.The /cmd_vel topic is responsible for receiving velocity commands for the robot. These commands can be generated by teleoperation or the move_base module, instructing the robot on how fast to move in different directions.

`/ecu/restart`

Warning

Use with caution. The ECU (ESP32) will reset, and pins may enter a floating state.

Type: std_msgs/Bool
Description: Handles ECU restart commands.

`/buzzer/functions/enable`

Type: std_msgs/Bool
Description: Controls the enabling/disabling of buzzer functions.

`/buzzer/battery_low/enable`

Type: std_msgs/Bool
Description: Controls the enabling/disabling of battery low warnings through the buzzer.

`/hill_hold_control`

Type: std_msgs/Bool
Description: The /hill_hold_control topic when enabled (It can be enabled by publishing true on /hill_hold_control topic) holds the robot on slope without any user input.

`/microros_domain_id`

Type: std_msgs/Int32
Description: The /microros_domain_id enables you to change your firmware's domain id permanently. Once changed, the firmware remembers your last set value and always boots up with the same domain id. (Currently set on domain-id 169)

To change the domain id, make sure microros agent is active, Open a new terminal and publish your custom domain id:

ros2 topic pub -1 /microros_domain_id std_msgs/msg/Int32 "{data: 169}"

The robot will change the domain ID and reset the ECU automatically to make the necessary changes. You will able to see the topics on your custom domain id now.

Low-Level ROS Topics Publisher

`/battery/percentage`

This topic provides information about the remaining battery percentage of the robot.

Battery Percentage	Beeping Sounds
100 - 20	No beeping
20 - 15	Beep every 2 minutes
15 - 10	Beep every 1 minute
Below 10	Very frequent beeping
0 (Complete Discharge)	Continuous beep

Tip

To ensure you are aware of the robot's battery status, pay attention to the beeping sounds, especially as the battery percentage decreases.

Caution

Do not drain the battery below 10 %, doing so can damage the battery permanently.

`/battery/voltage`

This topic reports the current battery voltage, ranging from 29.4V at maximum charge to 22.4V at minimum charge.

`/wheel/ticks`

This topic provides an array of ticks for all four wheels of the robot, in the format [lf, lb, rf, rb]. These values represent the encoder readings of the wheel ticks.

`/wheel/vel`

The /wheel/vel topic sends an array of calculated current velocities for each wheel on the robot, received via encoders. The format of the array is [lf, lb, rf, rb], representing the actual velocity at which each wheel is moving.

`/wheel/rpm`

Type: std_msgs/Int32MultiArray
Description: Provides the RPM (Revolutions Per Minute) of the wheels in the format [lf, lb, rf, rb].

`/cmd_vel`

Type: geometry_msgs/Twist
Description: Publishes the robot's velocity commands.

`/imu/data`

Type: sensor_msgs/Imu
Description: Provides IMU (Inertial Measurement Unit) data including orientation, angular velocity, and linear acceleration.

`estop/status`

Type: std_msgs/Bool
Description: Publishes the status of the Emergency Stop button.

`pixhawk/control`

Type: std_msgs/Bool
Description: Publishes feedback on the Pixhawk control status.

6. Diadem Robot Parameters

The parameters for the robot can be dynamically reconfigured via rqt_reconfigure. Here are some key parameters:

Parameter	Value
Drive Type	Skid Steer Drive
Diameter	0.35m
Wheel Separation Width	0.58m
Wheel Separation Length	0.5 m
Motor Type	DC Geared Motor
RPM	110
Encoder Type	Magnetic Encoder
PPR (Pulses Per Revolution)	600
Microcontroller	DOIT-ESP32 Devkit V1
Robot Payload Capacity	200-250 kgs
Battery Life	About 3 hours
Battery Type	Lithium-ion 193AH 6S 24V

7. Diagnostic Tests

Overview

The diagnostic tests are a set of procedures to ensure the proper functionality of the robot. They can be run using ROS tools.

Instructions

Make sure the robot is connected to the WiFi network.
SSH into the robot's PC.
Run the diagnostic scripts provided.

Detailed Instructions

Here is how you can perform a detailed diagnostic:

cd ~/ros2_ws/src/diadem/diadem_firmware/scripts
python3 diadem_diagnostics.py

How to Run Diagnostics

The diagnostics.py script will perform several checks:

Check IMU data consistency.
Check battery status.
Check motor functionality.
Verify topic publishing rates.

Important Notes

It is crucial to execute the tests with caution and follow the on-screen instructions for each test to ensure accurate results.
Ensure that the robot has sufficient space to move during the motor direction test (Test Number: 2).
If any issues are identified during the tests, refer to the specific diagnostic output for guidance on addressing the problem.
Ensure the robot is on a flat surface before running IMU diagnostics.
Monitor the battery status to prevent running diagnostics on a low battery.
If any tests fail, refer to the error logs for more information.

By following these instructions, you can perform diagnostic tests on the diadem robot to identify and resolve any issues with its components.

8. Charging Instructions

Charger Provided with the robot

Step 1: Set your robot into charging mode before plugging in the charger

Note

The charger demands an input supply of upto 220V 16A AC. Make sure the power socket supports for the same.

Step 2: Plugin the charger

9. Removing the top lid of the robot

Warning

Precautions when opening the top panel of robot: Remove the thumb screws and slightly open up the top lid of the robot. Remove the realsense and gps cables before completely lifting the lid of the robot.

1. Camera Cable	2. GPS Cable

10. LED indicators instructions

Nomenclature

Instructions

Indication type	Indicates
All orange fading effect	ROS/RC not connected

Indication type	Indicates
White Statuslights, White Headlights, Red Brakelights	ROS Mode Connected

Indication type	Indicates
Blue Statuslights, White Headlights, Red Brakelights	Pixhawk Control over ROS

Indication type	Indicates
Purple Statuslights, White Headlights, Red Brakelights	ROS Mode Connected

Indication type	Indicates
Orange Indicatorlights, Red Brakelights	ForwardLeft Movement

Indication type	Indicates
Orange Indicatorlights, Red Brakelights	ForwardRight Movement

Indication type	Indicates
Orange Indicatorlights, Red Brakelights	RotateinPlace Movement

Indication type	Indicates
Yellow Indicatorlights, Red Brakelights	ForwardLeft Movement

Indication type	Indicates
Red Indicatorlights, Red Brakelights	Battery Low indication

Indication type	Indicates
All lights red	Emergency button pressed

Name		Name	Last commit message	Last commit date
Latest commit History 7 Commits
diadem_description		diadem_description
diadem_firmware		diadem_firmware
diadem_gazebo		diadem_gazebo
services		services
.gitignore		.gitignore
README.md		README.md
demo.sh		demo.sh
development.sh		development.sh
getip		getip
install.sh		install.sh
requirements.txt		requirements.txt
start.sh		start.sh

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Diadem Pixhawk Release

ROS2 Humble Release

Table of Contents

1. Package Description

1.1 diadem_description

1.2 diadem_firmware

1.3 diadem_gazebo

2. Simulation

3. Real Robot Instruction

3.1 Initial Wifi Setup

1. Create a mobile hotspot

2. Start the robot

3. SSH into the robot

4. Connect to Wifi

4. SSH using your Wifi

3.2 Launch Sequence

Switching mode in robot

Modes of robot.

1. Demo Mode - ROS2 nodes are automatically launched during the robot's startup/boot process.

2. Development Mode - No ROS2 nodes are launched during startup.

3.3 RC Control Mode

Motor Control Modes

Robot Control Modes

Custom PID Mode ⚠️

3.4 ROS-based Teleoperation Mode

3.5 ROS-based Pixhawk Control Mode

1. Install QGroundControl

2. Navigate to Application Settings > Comm Links > Add

3. Generate a new UDP Connection

4. Provide IP Addresses

5. Establish a connection

3.6 USB Ports Configuration

3.7 Get IP Address of Robot

Visualizing in remote PC

5. Features via ROS Topics

Low-Level ROS Topics Subcriber

/motor_control/enable

/motor_control/right_front

/motor_control/left_front

/motor_control/right_back

/motor_control/left_back

/robot/nav_status

/robot/network_status

/pid/mode

/pid/custom/enable

/pid/constants

/pid/custom/save

/diagnostics/test

/cmd_vel

/ecu/restart

/buzzer/functions/enable

/buzzer/battery_low/enable

/hill_hold_control

/microros_domain_id

Low-Level ROS Topics Publisher

/battery/percentage

/battery/voltage

/wheel/ticks

/wheel/vel

/wheel/rpm

/cmd_vel

/imu/data

estop/status

pixhawk/control

6. Diadem Robot Parameters

7. Diagnostic Tests

Overview

Instructions

Detailed Instructions

How to Run Diagnostics

Important Notes

8. Charging Instructions

Charger Provided with the robot

9. Removing the top lid of the robot

10. LED indicators instructions

`/motor_control/enable`

`/motor_control/right_front`

`/motor_control/left_front`

`/motor_control/right_back`

`/motor_control/left_back`

`/robot/nav_status`

`/robot/network_status`

`/pid/mode`

`/pid/custom/enable`

`/pid/constants`

`/pid/custom/save`

`/diagnostics/test`

`/cmd_vel`

`/ecu/restart`

`/buzzer/functions/enable`

`/buzzer/battery_low/enable`

`/hill_hold_control`

`/microros_domain_id`

`/battery/percentage`

`/battery/voltage`

`/wheel/ticks`

`/wheel/vel`

`/wheel/rpm`

`/cmd_vel`

`/imu/data`

`estop/status`

`pixhawk/control`

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