This project is designed to integrate different robotics modules like stop sign detection, lane tracking, obstacle detection, and using voice commands to allow the robot to take actions accordingly.
Objective
The main objective of this project is to build and deploy various robotics modules which have been created for Qualcomm Robotics RB5 Development Kit.
Equipment Required / Parts List / Tools
| Equipment | Description |
|---|---|
| Robotics DragonBoard™ RB5 development board | Robotics platform from Qualcomm Technologies, Inc. |
| Power adapter | 12 V with 2500 mA required by the 96Boards specification |
| USB to Micro USB cable USB to USB Type C cable |
For serial console interface and ADB, Fast boot commands For connecting the USB3.0 Type C port to the board and flashing images |
| Turtlebot Burger (TurtleBot3) | Robot |
Source Code / Source Examples / Application Executable
| Description | Link |
|---|---|
| Source Code: Github Link for source of RB5 integrated Robotic Module. | https://github.com/globaledgesoft/AutonomousRB5 |
Additional resources
| Resource Title | Link or File name (and provide File) |
|---|---|
| Qualcomm Robotics RB5 Development Kit bringup | https://developer.qualcomm.com/qualcomm-robotics-rb5-kit/quick-start-guide/qualcomm_robotics_rb5_development_kit_bring_up |
Build / Assembly Instructions
Acronyms:
| ROS | Robot Operating System |
Prerequisites:
- A Linux workstation with Ubuntu 18.04.
- Install Android Platform tools (ADB, Fastboot)
- Download and install the SDK Manager
- Flash the RB5 firmware image on to the board
- Setup the Network.
- Install third party libraries and test basic RoS application as instructed here.
- Turtlebot burger is assembled, operational and is connected to the Qualcomm Robotics RB5 development board.
- Make sure that the development kit has installed portaudio from source.
Steps to build and deploy RB5 Scene Detection Application
- Setup the project Directory in the Qualcomm Robotics RB5 development kit by cloning the project repository from the github.
adb shell
cd /home/integrated-robotic-module-rb5
git clone https://github.com/globaledgesoft/integrated-robotic-module-rb5
Installation of TurtleBot 3 Package
For the setup we will be using the TurtleBot3 Burger, we need to install TurtleBot Packages for controlling the TurtleBot.
- Setup the necessary packages by executing the following commands.
- Setup the necessary packages by executing the following commands.
apt install cmake python3-argcomplete python3-pip libboost-system-dev build-essential
pip3 install colcon-common-extensions
apt get install libasound-dev portaudio19-dev libportaudio2 libportaudiocpp02. Create a new directory for TurtleBot 3.
mkdir -p ~/turtlebot3_ws/src && cd ~/turtlebot3_ws/src
3. Clone the necessary repositories and then access TurtleBot Folder
git clone -b dashing-devel https://github.com/ROBOTIS-GIT/hls_lfcd_lds_driver.git
git clone -b dashing-devel https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git
git clone -b dashing-devel https://github.com/ROBOTIS-GIT/turtlebot3.git
git clone -b dashing-devel https://github.com/ROBOTIS-GIT/DynamixelSDK.git
cd ~/turtlebot3_ws/src/turtlebot3
4. Remove the folders that are not required for the current project.
rm -r turtlebot3_cartographer turtlebot3_navigation2
cd ~/turtlebot3_ws/
5. Source & Building the TurtleBot3 Setup file
echo 'source /opt/ros/dashing/setup.bash' >> ~/.bashrc
source ~/.bashrc
colcon build --symlink-install --parallel-workers 1
if you get the error
use the following command
pip install pytest-rerunfailuresecho 'source ~/turtlebot3_ws/install/setup.bash' >> ~/.bashrc
source ~/.bashrc
echo 'export ROS_DOMAIN_ID=30 #TURTLEBOT3' >> ~/.bashrc
echo 'export TURTLEBOT3_MODEL=burger' >> ~/.bashrc
source ~/.bashrc
2. Steps to Setup Common ML Packages:
We need to set up python libraries such as numpy and opencv-python for our application to run. Instructions for setting up them are as follows:
- Setup opencv python
pip3 install --upgrade pip
Python3 -m pip install opencv-python2. Setup Numpy
python3 -m pip install numpy
3. Setup Sci-kit learn
Apt install python3-sklearn
4. Setup TensorFlow Lite runtime
python3 -m pip install --index-url https://google-coral.github.io/py-repo/ tflite_runtime
3. Steps to flash ROS2 firmware into OpenCR:
The Default firmware supports ROS1. As we are using ROS Dashing (ROS2 version), we need to upgrade OpenCR firmware.
- Create a temp folder for Binaries
mkdir /home/opencrbin/ && cd /home/opencrbin2. Download the latest binaries & unzip
wget https://github.com/ROBOTIS-GIT/OpenCR-
Binaries/raw/master/turtlebot3/ROS2/latest/opencr_update.tar.bz2
tar -xjf ./opencr_update.tar.bz2
3. Set the OpenCR port & TurtleBot Model. Before flashing, check whether the ttyACM0 port exists.
export OPENCR_PORT=/dev/ttyACM0
export OPENCR_MODEL=burger
4. Upload the latest firmware by following command:
dpkg --add-architecture armhf
apt-get update
apt-get install libc6:armhf
cd /home/opencrbin/opencr_update && ./update.sh $OPENCR_PORT $OPENCR_MODEL.opencr
You will see the following response on the terminal window of the Qualcomm Robotics RB5 development kit and hear the OpenCR board chime to confirm the update was successful.
4. Steps to Setup USB Camera:
- Connect USB Camera to development kit.
- Attach the camera on Turtlebot3 Burger at 3rd layer from bottom, 20 degree facing down from vertical angle.
Note: If you are using the build of October 2020 provided by Thundercomm, you may face the issue of coredump after attaching the USB Camera with mic. So before starting, stop pulse audio service.
5. Steps to Setup LiDAR:
- Connect LIDAR Scanner to Qualcomm Robotics RB5 development kit using microUSB cable.
- After connection make sure the /dev/ttyUSB0 port is accessible.
Usage Instructions
Steps to Run Application
Environment setup instructions before running the application:
- In the terminal-1 run the TurtleBot Bringup Command
ros2 launch turtlebot3_bringup robot.launch.py2. Open a second terminal, and we can launch our application from that. If you are using adb shell, don’t forget to run
source ~/.bashrccommand before running the application.
Steps to Run main application:
Go to the project directory
cd <PROJECT_DIR_PATH>cmake .makeRunning the project
./WWD_Engine micJust say “Hey Globalite” and the Turtlebot starts driving. The demo is designed to store the video recording from the camera on the Qualcomm Robotics RB5 platform.
Qualcomm Robotics RB5 is a product of Qualcomm Technologies, Inc. and/or its subsidiaries.
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