Merge pull request #112 from linorobot/sensor_update

Sensor update
linorobot · Feb 21, 2024 · 25d1e4a · 25d1e4a
2 parents ed5da3b + 939be7d
commit 25d1e4a
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Showing 20 changed files with 507 additions and 308 deletions.
diff --git a/README.md b/README.md
@@ -32,8 +32,13 @@ robot_type:
 - `mecanum` - Mecanum drive robot.
 
 laser_sensor:
-- `rplidar` - [RP LIDAR A1](https://www.slamtec.com/en/Lidar/A1)
-- `ldlidar` - [LD06 LIDAR](https://www.inno-maker.com/product/lidar-ld06/)
+- `a1` - [RPLIDAR A1](https://www.slamtec.com/en/Lidar/A1)
+- `a2` - [RPLIDAR A2](https://www.slamtec.ai/product/slamtec-rplidar-a2/)
+- `a3` - [RPLIDAR A3](https://www.slamtec.ai/product/slamtec-rplidar-a3/)
+- `s1` - [RPLIDAR S1](https://www.slamtec.com/en/Lidar/S1)
+- `s2` - [RPLIDAR S2](https://www.slamtec.com/en/Lidar/S2)
+- `s3` - [RPLIDAR S3](https://www.slamtec.com/en/Lidar/S3)
+- `c1` - [RPLIDAR A3](https://www.slamtec.ai/product/slamtec-rplidar-a3/)
 - `ld06` - [LD06 LIDAR](https://www.ldrobot.com/ProductDetails?sensor_name=STL-06P)
 - `ld19` - [LD19/LD300 LIDAR](https://www.ldrobot.com/ProductDetails?sensor_name=STL-19P)
 - `stl27l` - [STL27L LIDAR](https://www.ldrobot.com/ProductDetails?sensor_name=STL-27L)

diff --git a/ROBOT_INSTALLATION.md b/ROBOT_INSTALLATION.md
@@ -11,21 +11,6 @@ If it's your first time using ROS2 and haven't created your ROS2 workspace yet,
     source install/setup.bash
 
 #### 1.2 Install LIDAR ROS2 drivers:
-RPLIDAR:
-
-    sudo apt install -y ros-$ROS_DISTRO-rplidar-ros
-    cd /tmp
-    wget https://raw.githubusercontent.com/allenh1/rplidar_ros/ros2/scripts/rplidar.rules
-    sudo cp rplidar.rules /etc/udev/rules.d/
-
-LDLIDAR:
-
-    cd <your_ws>
-    git clone https://github.com/linorobot/ldlidar src/ldlidar
-    sudo cp src/ldlidar/ldlidar.rules /etc/udev/rules.d/
-    colcon build
-    source <your_ws>/install/setup.bash
-
 YDLIDAR:
 
     cd /tmp
@@ -54,6 +39,17 @@ LD06 LD19 STL27L:
     git clone https://github.com/hippo5329/ldlidar_stl_ros2.git src/ldlidar_stl_ros2
     colcon build
     source <your_ws>/install/setup.bash
+    cd /tmp
+    wget https://raw.githubusercontent.com/linorobot/ldlidar/ros2/ldlidar.rules
+    sudo cp ldlidar.rules /etc/udev/rules.d
+
+RPLIDAR (A1 A2 A3 C1 S1 S2 S3):
+
+    cd <your_ws>
+    git clone https://github.com/Slamtec/sllidar_ros2.git
+    colcon build
+    source  <your_ws>/install/setup.bash
+    sudo cp sllidar_ros2/scripts/rplidar.rules /etc/udev/rules.d
 
 #### 1.3 Install depth sensor drivers:
 Intel RealSense:

diff --git a/docker/.cyclonedds.xml b/docker/.cyclonedds.xml
@@ -0,0 +1,18 @@
+<?xml version="1.0" ?>
+<CycloneDDS xmlns="https://cdds.io/config" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:schemaLocation="https://cdds.io/config https://raw.githubusercontent.com/eclipse-cyclonedds/cyclonedds/master/etc/cyclonedds.xsd">
+  <Domain id="any">
+    <General>
+      <Interfaces>
+        <NetworkInterface name="lo"/>
+      </Interfaces>
+      <AllowMulticast>false</AllowMulticast>
+    </General>
+    <Discovery>
+      <ParticipantIndex>auto</ParticipantIndex>
+      <Peers>
+        <Peer Address="127.0.0.1"/>
+      </Peers>
+      <MaxAutoParticipantIndex>120</MaxAutoParticipantIndex>
+    </Discovery>
+  </Domain>
+</CycloneDDS>
diff --git a/docker/.env b/docker/.env
@@ -37,3 +37,6 @@ RUNTIME=
 
 UBUNTU_VER=22.04
 USE_ROS_DISTRO=humble
+
+RMW=cyclonedds
+# RMW=fastrtps
diff --git a/docker/.fastrtps.xml b/docker/.fastrtps.xml
@@ -0,0 +1,19 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<dds>
+    <profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles" >
+        <transport_descriptors>
+            <transport_descriptor>
+                <transport_id>custom_udpv4_transport</transport_id>
+                <type>UDPv4</type>
+            </transport_descriptor>
+        </transport_descriptors>
+        <participant profile_name="no_shm_participant_profile" is_default_profile="true">
+            <rtps>
+                <useBuiltinTransports>false</useBuiltinTransports>
+                <userTransports>
+                    <transport_id>custom_udpv4_transport</transport_id>
+                </userTransports>
+            </rtps>
+        </participant>
+    </profiles>
+</dds>
diff --git a/docker/Dockerfile b/docker/Dockerfile
@@ -2,6 +2,7 @@ ARG USE_ROS_DISTRO=
 ARG UBUNTU_VER=
 ARG RUNTIME=
 ARG DEPLOY=
+ARG RMW=
 
 FROM --platform=$BUILDPLATFORM ros:${USE_ROS_DISTRO}-ros-base as ros2
 SHELL ["/bin/bash", "-c"]
@@ -112,7 +113,17 @@ ENV QT_X11_NO_MITSHM=1
 from ros2${RUNTIME} as common
 SHELL ["/bin/bash", "-c"]
 
-RUN wget -O /root/.shm_off.xml https://raw.githubusercontent.com/eProsima/Fast-DDS/107ea8d64942102696840cd7d3e4cf93fa7a143e/examples/cpp/dds/AdvancedConfigurationExample/shm_off.xml
+ARG RMW=
+RUN if [ "${RMW}" == "cyclonedds" ]; then \
+        apt-get update && apt-get install -y --no-install-recommends \
+        ros-${ROS_DISTRO}-rmw-cyclonedds-cpp \
+        && rm -rf /var/lib/apt/lists/* ; \
+    fi
+
+COPY docker/.${RMW}.xml /root
+ENV RMW_IMPLEMENTATION=rmw_${RMW}_cpp
+ENV CYCLONEDDS_URI=/root/.cyclonedds.xml
+ENV FASTRTPS_DEFAULT_PROFILES_FILE=/root/.fastrtps.xml
 
 RUN mkdir -p /root/linorobot2_ws/src/linorobot2
 RUN mkdir -p /root/preinstall/base \

diff --git a/docker/docker-compose.yaml b/docker/docker-compose.yaml
@@ -13,6 +13,7 @@ services:
         - ROBOT_BASE=${ROBOT_BASE}
         - LASER_SENSOR=${LASER_SENSOR} 
         - DEPTH_SENSOR=${DEPTH_SENSOR}
+        - RMW=${RMW}
       target: base
 
   dev:
@@ -63,13 +64,31 @@ services:
       ros2 launch linorobot2_navigation slam.launch.py
       rviz:=false
 
+  slam-sim:
+    container_name: slam-sim
+    extends: dev
+    command: >
+      ros2 launch linorobot2_navigation slam.launch.py
+      rviz:=true
+      sim:=true
+
   navigate:
     container_name: navigate
     extends: dev
     command: >
       ros2 launch linorobot2_navigation navigation.launch.py
       map:=/root/linorobot2_ws/src/linorobot2/linorobot2_navigation/maps/playground.yaml
       rviz:=false
+      sim:=false
+
+  navigate-sim:
+    container_name: navigate-sim
+    extends: dev
+    command: >
+      ros2 launch linorobot2_navigation navigation.launch.py
+      map:=/root/linorobot2_ws/src/linorobot2/linorobot2_navigation/maps/playground.yaml
+      rviz:=true
+      sim:=true
 
   save-map:
     container_name: save-map

diff --git a/docker/entrypoint.sh b/docker/entrypoint.sh
@@ -2,6 +2,5 @@
 
 source /opt/ros/rosdistro/setup.bash
 source /root/linorobot2_ws/install/setup.bash
-export FASTRTPS_DEFAULT_PROFILES_FILE=/root/.shm_off.xml
 
 $@
diff --git a/docker/install_sensors.bash b/docker/install_sensors.bash
@@ -25,7 +25,7 @@ WORKSPACE="/root/linorobot2_ws"
 
 ROBOT_TYPE_ARRAY=(2wd 4wd mecanum)
 DEPTH_SENSOR_ARRAY=(realsense zed zedm zed2 zed2i oakd oakdlite oakdpro)
-LASER_SENSOR_ARRAY=(rplidar ldlidar ydlidar xv11 ld06 ld19 stl27l)
+LASER_SENSOR_ARRAY=(ydlidar xv11 ld06 ld19 stl27l a1 a2 a3 c1 s1 s2 s3)
 LASER_SENSOR_ARRAY+=(${DEPTH_SENSOR_ARRAY[@]})
 
 if [ -z "$LASER_SENSOR" ]
@@ -59,19 +59,6 @@ function install_xv11 {
     source $WORKSPACE/install/setup.bash
 }
 
-function install_rplidar {
-    sudo apt-get install -y ros-$ROS_DISTRO-rplidar-ros
-    cd /tmp
-    wget https://raw.githubusercontent.com/allenh1/rplidar_ros/ros2/scripts/rplidar.rules
-}
-
-function install_ldlidar {
-    cd $WORKSPACE
-    git clone https://github.com/linorobot/ldlidar src/ldlidar
-    colcon build
-    source $WORKSPACE/install/setup.bash
-}
-
 function install_ydlidar {
     cd /tmp
     git clone https://github.com/YDLIDAR/YDLidar-SDK.git
@@ -106,6 +93,41 @@ function install_stl27l {
     install_ldlidar_stl_ros2
 }
 
+function install_sllidar_ros2 {
+    cd $WORKSPACE
+    git clone https://github.com/Slamtec/sllidar_ros2.git
+    colcon build
+    source $WORKSPACE/install/setup.bash
+}
+
+function install_a1 {
+    install_sllidar_ros2
+}
+
+function install_a2 {
+    install_sllidar_ros2
+}
+
+function install_a3 {
+    install_sllidar_ros2
+}
+
+function install_c1 {
+    install_sllidar_ros2
+}
+
+function install_s1 {
+    install_sllidar_ros2
+}
+
+function install_s2 {
+    install_sllidar_ros2
+}
+
+function install_s3 {
+    install_sllidar_ros2
+}
+
 function install_realsense {
     sudo apt-get install -y ros-$ROS_DISTRO-realsense2-camera
     cd /tmp

diff --git a/docker/sim.yaml b/docker/sim.yaml
@@ -0,0 +1,14 @@
+name: linorobot2-sim-demo
+on_project_start: export DISPLAY=:200
+on_project_exit: 
+- docker compose down
+tmux_options: -f $HOME/.config/tmuxinator/eztmux/.tmux.conf
+windows:
+  - main:
+      panes:
+      - docker compose up kasmvnc
+      - docker compose up gazebo
+      - docker compose up navigate-sim
+
+      - # This is not limited to this line only
+      - # You can add as much panes as you want.
diff --git a/install_linorobot2.bash b/install_linorobot2.bash
@@ -24,7 +24,7 @@ WORKSPACE="$HOME/linorobot2_ws"
 
 ROBOT_TYPE_ARRAY=(2wd 4wd mecanum)
 DEPTH_SENSOR_ARRAY=(realsense zed zedm zed2 zed2i oakd oakdlite oakdpro)
-LASER_SENSOR_ARRAY=(rplidar ldlidar ydlidar xv11 ld06 ld19 stl27l)
+LASER_SENSOR_ARRAY=(ydlidar xv11 ld06 ld19 stl27l a1 a2 a3 c1 s1 s2 s3)
 LASER_SENSOR_ARRAY+=(${DEPTH_SENSOR_ARRAY[@]})
 
 if [ -z "$LASER_SENSOR" ]
@@ -58,18 +58,21 @@ function install_xv11 {
     source $WORKSPACE/install/setup.bash
 }
 
-function install_rplidar {
-    sudo apt install -y ros-$ROS_DISTRO-rplidar-ros
+function install_ydlidar {
     cd /tmp
-    wget https://raw.githubusercontent.com/allenh1/rplidar_ros/ros2/scripts/rplidar.rules
-    sudo cp rplidar.rules /etc/udev/rules.d/
-}
-
-function install_ldlidar {
+    git clone https://github.com/YDLIDAR/YDLidar-SDK.git
+    mkdir YDLidar-SDK/build
+    cd YDLidar-SDK/build
+    cmake ..
+    make
+    sudo make install
     cd $WORKSPACE
-    git clone https://github.com/linorobot/ldlidar src/ldlidar
-    sudo cp src/ldlidar/ldlidar.rules /etc/udev/rules.d/
-    colcon build
+    git clone https://github.com/YDLIDAR/ydlidar_ros2_driver src/ydlidar_ros2_driver
+    chmod 0777 src/ydlidar_ros2_driver/startup/*
+    sudo echo  'KERNEL=="ttyUSB*", ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="ea60", MODE:="0666", GROUP:="dialout",  SYMLINK+="ydlidar"' >/etc/udev/rules.d/ydlidar.rules
+    sudo echo  'KERNEL=="ttyACM*", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="5740", MODE:="0666", GROUP:="dialout",  SYMLINK+="ydlidar"' >/etc/udev/rules.d/ydlidar-V2.rules
+    sudo echo  'KERNEL=="ttyUSB*", ATTRS{idVendor}=="067b", ATTRS{idProduct}=="2303", MODE:="0666", GROUP:="dialout",  SYMLINK+="ydlidar"' >/etc/udev/rules.d/ydlidar-2303.rules
+    colcon build --symlink-install
     source $WORKSPACE/install/setup.bash
 }
 
@@ -78,6 +81,9 @@ function install_ldlidar_stl_ros2 {
     git clone https://github.com/hippo5329/ldlidar_stl_ros2.git src/ldlidar_stl_ros2
     colcon build
     source $WORKSPACE/install/setup.bash
+    cd /tmp
+    wget https://raw.githubusercontent.com/linorobot/ldlidar/ros2/ldlidar.rules
+    sudo cp ldlidar.rules /etc/udev/rules.d
 }
 
 function install_ld06 {
@@ -92,22 +98,40 @@ function install_stl27l {
     install_ldlidar_stl_ros2
 }
 
-function install_ydlidar {
-    cd /tmp
-    git clone https://github.com/YDLIDAR/YDLidar-SDK.git
-    mkdir YDLidar-SDK/build
-    cd YDLidar-SDK/build
-    cmake ..
-    make
-    sudo make install
+function install_sllidar_ros2 {
     cd $WORKSPACE
-    git clone https://github.com/YDLIDAR/ydlidar_ros2_driver src/ydlidar_ros2_driver
-    chmod 0777 src/ydlidar_ros2_driver/startup/*
-    sudo echo  'KERNEL=="ttyUSB*", ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="ea60", MODE:="0666", GROUP:="dialout",  SYMLINK+="ydlidar"' >/etc/udev/rules.d/ydlidar.rules
-    sudo echo  'KERNEL=="ttyACM*", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="5740", MODE:="0666", GROUP:="dialout",  SYMLINK+="ydlidar"' >/etc/udev/rules.d/ydlidar-V2.rules
-    sudo echo  'KERNEL=="ttyUSB*", ATTRS{idVendor}=="067b", ATTRS{idProduct}=="2303", MODE:="0666", GROUP:="dialout",  SYMLINK+="ydlidar"' >/etc/udev/rules.d/ydlidar-2303.rules
-    colcon build --symlink-install
+    git clone https://github.com/Slamtec/sllidar_ros2.git
+    colcon build
     source $WORKSPACE/install/setup.bash
+    sudo cp sllidar_ros2/scripts/rplidar.rules /etc/udev/rules.d
+}
+
+function install_a1 {
+    install_sllidar_ros2
+}
+
+function install_a2 {
+    install_sllidar_ros2
+}
+
+function install_a3 {
+    install_sllidar_ros2
+}
+
+function install_c1 {
+    install_sllidar_ros2
+}
+
+function install_s1 {
+    install_sllidar_ros2
+}
+
+function install_s2 {
+    install_sllidar_ros2
+}
+
+function install_s3 {
+    install_sllidar_ros2
 }
 
 function install_realsense {
@@ -190,8 +214,8 @@ if [ "$*" == "" ]
     then
         echo "No arguments provided"
         echo
-        echo "Example: $ bash install_linorobot2.bash 2wd rplidar"
-        echo "Example: $ bash install_linorobot2.bash 2wd rplidar realsense"
+        echo "Example: $ bash install_linorobot2.bash 2wd a1"
+        echo "Example: $ bash install_linorobot2.bash 2wd a1 realsense"
         echo "Example: $ bash install_linorobot2.bash 2wd - realsense"
         echo "Example: $ bash install_linorobot2.bash 2wd"