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roni-kreininroni-kreinin
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v0.1.2
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-49
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9 files changed

+140
-49
lines changed

‎conf/cyclonedds_pc.xml‎

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<CycloneDDS>
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<Domain>
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<General>
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<DontRoute>true</DontRoute>
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</General>
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</Domain>
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</CycloneDDS>

‎conf/cyclonedds_rpi.xml‎

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<CycloneDDS>
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<Domain>
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<General>
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<NetworkInterfaceAddress>wlan0,usb0</NetworkInterfaceAddress>
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</General>
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</Domain>
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</CycloneDDS>

‎scripts/galactic.sh‎

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#!/usr/bin/env bash
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sudo apt update && sudo apt install curl gnupg lsb-release -y
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sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
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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 $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
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echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2-testing/ubuntu $(source /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
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sudo apt update
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sudo apt install -y \
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ros-galactic-ros-base \

‎scripts/install.py‎

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#!/usr/bin/env python3
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# Copyright 2022 Clearpath Robotics, Inc.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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#
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# @author Roni Kreinin ([email protected])
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import sys
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import robot_upstart
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def help():
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print('TurtleBot 4 robot_upstart install script.')
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print('Usage: install.py [model] <ROS_DOMAIN_ID>')
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print('models: lite, standard')
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print('ROS_DOMAIN_ID: optional, defaults to 0')
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argc = len(sys.argv)
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if argc == 1:
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print('Model required.')
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help()
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sys.exit(1)
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model = sys.argv[1]
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if model != 'lite' and model != 'standard':
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print('Invalid model {0}'.format(model))
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help()
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sys.exit(2)
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domain_id = 0
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if argc == 3:
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try:
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domain_id = int(sys.argv[2])
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except ValueError:
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print('Invalid ROS_DOMAIN_ID {0}'.format(sys.argv[2]))
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help()
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sys.exit(3)
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print('Installing TurtleBot 4 {0}. ROS_DOMAIN_ID={1}'.format(model, domain_id))
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turtlebot4_job = robot_upstart.Job(name='turtlebot4',
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rmw='rmw_cyclonedds_cpp',
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rmw_config='/etc/cyclonedds_rpi.xml',
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workspace_setup='/opt/ros/galactic/setup.bash',
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ros_domain_id=domain_id)
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turtlebot4_job.symlink = True
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turtlebot4_job.add(package='turtlebot4_bringup', filename='launch/{0}.launch.py'.format(model))
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turtlebot4_job.install()

‎scripts/oakd.sh‎

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‎scripts/turtlebot4_setup.sh‎

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#!/usr/bin/env bash
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# Copyright 2022 Clearpath Robotics, Inc.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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#
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# @author Roni Kreinin ([email protected])
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# Flags:
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# -m Turtlebot4 Model (lite, standard)
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# -c OAK-D Camera Model (lite, pro)
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Help()
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{
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bash $SCRIPT_DIR/galactic.sh
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source /opt/ros/galactic/setup.bash
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# Install source packages
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vcs import src < $SETUP_DIR/turtlebot4_packages.repos
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# Install additional packages
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# Install packages
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sudo apt install -y \
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libgpiod-dev \
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network-manager \
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daemontools \
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ros-galactic-robot-upstart \
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chrony
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# Install bluetooth packages
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bash $SCRIPT_DIR/bluetooth.sh
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# Install OAK-D drivers
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bash $SCRIPT_DIR/oakd.sh
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# Run rosdep
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sudo rosdep init
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rosdep update
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rosdep install -r --from-paths src -i -y --rosdistro galactic
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# Add swap memory and build packages
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sudo bash $SCRIPT_DIR/swap_on.sh
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colcon build --symlink-install
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source install/setup.bash
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sudo bash $SCRIPT_DIR/swap_off.sh
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chrony \
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ros-galactic-turtlebot4-robot \
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ros-galactic-irobot-create-control
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# Copy udev rules
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sudo cp $SETUP_DIR/udev/turtlebot4.rules /etc/udev/rules.d/
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echo "dtoverlay=i2c-gpio,bus=3,i2c_gpio_delay_us=1,i2c_gpio_sda=4,i2c_gpio_scl=5" | sudo tee -a /boot/firmware/usercfg.txt
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# Configure cyclonedds
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sudo cp $SETUP_DIR/conf/cyclonedds_rpi.xml /etc/
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echo "export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp" | sudo tee -a ~/.bashrc
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echo "export CYCLONEDDS_URI='<CycloneDDS><Domain><General><NetworkInterfaceAddress>wlan0,usb0</></></></>'" | sudo tee -a ~/.bashrc
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echo "export CYCLONEDDS_URI=/etc/cyclonedds_rpi.xml" | sudo tee -a ~/.bashrc
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# Source galactic setup in bashrc
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echo "source /opt/ros/galactic/setup.bash" | sudo tee -a ~/.bashrc
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# Robot upstart
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ros2 run robot_upstart install turtlebot4_bringup/launch/$model.launch.py --job turtlebot4 --rmw rmw_cyclonedds_cpp --rmw_config "'<CycloneDDS><Domain><General><NetworkInterfaceAddress>wlan0,usb0</></></></>'"
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$SCRIPT_DIR/install.py $model
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sudo systemctl daemon-reload
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# Copy scripts to local bin
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sudo cp $SETUP_DIR/scripts/wifi.sh $SETUP_DIR/scripts/create_update.sh $SETUP_DIR/scripts/swap_on.sh $SETUP_DIR/scripts/swap_off.sh /usr/local/bin
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read -p "Installation complete, press enter to reboot."
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sudo reboot
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sudo cp $SCRIPT_DIR/wifi.sh \
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$SCRIPT_DIR/create_update_0.4.0.sh \
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$SCRIPT_DIR/create_update.sh \
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$SCRIPT_DIR/swap_on.sh \
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$SCRIPT_DIR/swap_off.sh \
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$SCRIPT_DIR/bluetooth.sh \
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$SCRIPT_DIR/install.py \
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$SCRIPT_DIR/uninstall.py /usr/local/bin
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# Set image information
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sudo touch /etc/turtlebot4
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echo "TurtleBot 4 $model v0.1.2" | sudo tee /etc/turtlebot4
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echo "Installation complete, press enter to reboot in AP mode."
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sudo $SETUP_DIR/scripts/wifi.sh -a && sudo reboot

‎scripts/uninstall.py‎

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#!/usr/bin/env python3
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# Copyright 2022 Clearpath Robotics, Inc.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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#
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# @author Roni Kreinin ([email protected])
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import robot_upstart
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turtlebot4_job = robot_upstart.Job(name='turtlebot4',
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workspace_setup='/opt/ros/galactic/setup.bash')
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turtlebot4_job.uninstall()

‎scripts/wifi.sh‎

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$ssid: \n\
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password: $password \n\
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$ap_comment mode: ap \n\
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$ap_comment band: 5GHz \n\
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dhcp4: true\n" | sudo tee /etc/netplan/50-cloud-init.yaml
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# Add regulatory domain

‎turtlebot4_packages.repos‎

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