Robot startup and parameter configuration
Based on the originbot.launch.py startup file, we can not only realize the start of the OriginBot robot chassis, but also use the configuration and collocation of different parameters to realize the combined start of different sensors.
Hint
The operating environment and software and hardware configurations are as follows:
- OriginBot Robot (Visual Version/Navigation Version)
- PC：Ubuntu (≥20.04) + ROS2 (≥Foxy)
Bot-launch method
Connect to OriginBot via SSH on the PC side.
After the connection is successful, the command launched by the OriginBot robot is:
After the chassis is successfully started, you will hear the buzzer on the controller sound for about 0.5 seconds.
Sensor start-up parameters
Depending on the sensor actually connected, we can configure whether to drive or not by parameter:
| The name of the parameter | description | Parameter value | Default value |
|---|---|---|---|
| use_camera | Whether or not to connect and use the camera | true：use false：do not use |
false |
| use_lidar | Whether or not to connect and use lidar | true：use false：do not use |
false |
| use_imu | Whether to connect and use the IMU | true：use false：do not use |
false |
Info
The above parameters can be configured individually or multiple times together, and if the default values are used, they can be defaulted at startup.
Chassis configuration parameters
originbot.launch.py will start the corresponding sensor according to the above parameters, and will also call the robot.launch.py to start the robot chassis, in the robot.launch.py, we can also configure some chassis related parameters:
| The name of the parameter | description | Parameter value | Default value |
|---|---|---|---|
| port_name | The serial slogan of the RDK X3 connection with the controller | string | ttyS3 |
| correct_factor_vx | Linearity correction parameters for linear velocity | float | 0.898 |
| correct_factor_vth | Linearity correction parameter for angular velocity | float | 0.874 |
| auto_stop_on | If the Twist speed command is not received within 0.5 seconds after starting, the robot will automatically stop | true：use，false：not use | false |
| use_imu | Whether to connect and use the IMU（will be overridden by the configuration in the originbot.launch.py） | true：use，false：not use | false |
| pub_odom | Whether or not to publish an odometer-based ODOM to base_footprint TF transformation | true：publish，false：do not publish | true |
Info
The above parameter values can be modified in the robot.launch.py file in combination with the actual usage of the robot.
Robot and sensor activation
Start the chassis
Using the following commands, the robot chassis can be started separately without starting the camera, lidar, and IMU, which can be used for motion control related applications.
Start the chassis + camera
Using the following commands, the robot chassis and camera can be started, and the lidar and IMU will not be turned on, which can be used for motion control and vision processing related applications.
Start chassis + camera + lidar
Use the following command to start the robot chassis, camera, and lidar, but the IMU will not be started at this time, and can be used for motion control, vision processing, mapping navigation related applications.
Start chassis + camera + lidar + IMU
Using the following commands, the robot chassis, camera, lidar, and IMU can be started, which can be used for motion control, vision processing, positioning navigation related applications.
