My-ROS-Project

Index

1. Overview
2. Design
   • Web interface
   • Arquitecture
3. Dependencies
4. Installation
   • Install Ubuntu 20.04.5 LTS (Focal Fossa)
   • ROS 2 Foxy installation
   • ROS 2 Foxy create a workspace
   • Install nodes
5. Usage
   • Execute nodes
   • Run web page

1. Overview

This is a Web page develop with HTML, CSS, JavaScript, Vue and ROS2 Foxy. The website has the following options:

• Joystick: the user can move the robot with a web joystick.
• Gamepad: the user can move the robot with a web gamepad.
• Webcamera: the user can see the robot's camera on the web page.

This project has been tested under ROS 2 Foxy and Ubuntu 20.04.4 LTS (Focal Fossa). This page is compatible with RB1 and Tiago robot.

Author: Manuel Fernández Miguélez, mfernm30@gmail.com

2. Design

Web interface

Arquitecture

3. Dependencies

• Ubuntu 20.04.5 LTS (Focal Fossa): installation.
• Robotic Operating System (ROS 2 Foxy): installation.
• RB1 simulator for ROS 2 Foxy: repository.
• RobotWebTools Web Video Server for ROS 2 Foxy: repository.
• RobotWebTools Rosbridge Server for ROS2 Foxy: repository
• Node.js 16.17.0: installation

4. Installation

ROS 2 Foxy installation

Set locale

Make sure you have a locale which supports UTF-8.

locale  # check for UTF-8

sudo apt update && sudo apt install locales
sudo locale-gen en_US en_US.UTF-8
sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
export LANG=en_US.UTF-8

locale  # verify settings

Setup Sources

Make sure that the Ubuntu Universe repository is enabled.

apt-cache policy | grep universe

This should output a line like the one below.

500 http://us.archive.ubuntu.com/ubuntu focal/universe amd64 Packages
    release v=20.04,o=Ubuntu,a=focal,n=focal,l=Ubuntu,c=universe,b=amd64

If you don’t see an output line like the one above, then enable the Universe repository with these instructions.

sudo apt install software-properties-common
sudo add-apt-repository universe

Now add the ROS 2 apt repository to your system.

sudo apt update && sudo apt install curl gnupg2 lsb-release
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key  -o /usr/share/keyrings/ros-archive-keyring.gpg

Then add the repository to your sources list.

echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(source /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null

Install ROS 2 packages

Update your apt repositories, then is recommended to work on an updated Ubuntu system.

sudo apt update
sudo apt upgrade

Desktop Install (Recommended): ROS, RViz, demos, tutorials.

sudo apt install ros-foxy-desktop

ROS-Base Install (Bare Bones): Communication libraries, message packages, command line tools. No GUI tools.

sudo apt install ros-foxy-ros-base

Enviroment setup

Source the setup script

# Replace ".bash" with your shell if you're not using bash
# Possible values are: setup.bash, setup.sh, setup.zsh
source /opt/ros/foxy/setup.bash

ROS 2 Foxy create a workspace

Create a new directory for every new workspace.

mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src

Install nodes

Clone RB1 simulator repository

git clone https://github.com/mgonzs13/ros2_rb1.git

Clone Web Video Server repository

git clone https://github.com/RobotWebTools/web_video_server.git

Install rosdep

sudo apt install python3-rosdep2
rosdep update

Resolve dependencies

rosdep install --from-paths src --ignore-src -r -y

Install colcon

sudo apt install python3-colcon-common-extensions

Build repositories with colcon

colcon build

Install rosbridge

sudo apt install ros-foxy-rosbridge-server

5. Usage

Execute nodes

At the public/Scripts directory inside this project, there are 3 scripts. Run them in the next order:

1. Run RB1 simulator node for ROS 2 Foxy (1robot_script.sh).
2. Run Rosbridge Server node for ROS 2 Foxy (2rosbridge_script.sh).
3. Run Web Video Server for ROS 2 Foxy (3web_video_server_script.sh).

¡Important! The script will not work until you change the path of your ROS 2 workspace. Go into each Script and change the path at cd line.

To execute them use the next commands:

./1robot_script.sh
./2rosbridge_script.sh
./3web_video_server_script.sh

Run web page

Install Node.js

curl -fsSL https://deb.nodesource.com/setup_16.x | sudo -E bash - &&\
sudo apt-get install -y nodejs

Install npm

sudo npm install -g npm@latest

Install web page dependencies

npm install

Run web page in development mode

npm run serve