Merge branch 'humble' into jesus/#237_assembly_process

README.md

@@ -43,6 +43,11 @@ Other projects built upon Andino! :rocket:
 - :green_circle: [`andino_isaac`](https://github.com/Ekumen-OS/andino_isaac): [Isaac Sim](https://docs.omniverse.nvidia.com/isaacsim/latest/index.html) simulation of the Andino robot.
 - :test_tube: [`andino_integration_tests`](https://github.com/Ekumen-OS/andino_integration_tests): Extension to the Andino robot showing how to build integration tests.
 
+## :busts_in_silhouette: Community
+
+[<img src="docs/discord-mark-blue.png" width=30 hspace="20"/>](https://discord.gg/tHhH32CTHu) Join our Discord and contribute to the community!
+
+
 ## :pick: Robot Assembly
 
 Visit [`andino_hardware`](./andino_hardware/) for assembly instructions.

andino_base/include/andino_base/motor_driver.h

@@ -30,6 +30,7 @@
 #pragma once
 
 #include <array>
+#include <cstdint>
 
 #include <libserial/SerialPort.h>
 

andino_bringup/config/raspicam.yaml

@@ -0,0 +1,29 @@
+# Calibration tutorial (from Nav2 docs): https://docs.nav2.org/tutorials/docs/camera_calibration.html
+# Other info for this Raspberry Pi Camera Module V2 can be found here: https://elinux.org/Rpi_Camera_Module#Technical_Parameters_.28v.2_board.29
+
+image_width: 640
+image_height: 480
+camera_name: narrow_stereo
+camera_matrix:
+  rows: 3
+  cols: 3
+  data: [502.10979,   0.     , 315.89371,
+           0.     , 499.35622, 233.15895,
+           0.     ,   0.     ,   1.     ]
+distortion_model: plumb_bob
+distortion_coefficients:
+  rows: 1
+  cols: 5
+  data: [0.150091, -0.263342, 0.002136, -0.004508, 0.000000]
+rectification_matrix:
+  rows: 3
+  cols: 3
+  data: [1., 0., 0.,
+         0., 1., 0.,
+         0., 0., 1.]
+projection_matrix:
+  rows: 3
+  cols: 4
+  data: [510.31363,   0.     , 312.43595,   0.     ,
+           0.     , 510.29425, 233.43648,   0.     ,
+           0.     ,   0.     ,   1.     ,   0.     ]

andino_bringup/launch/camera.launch.py

@@ -30,17 +30,32 @@
 
 from launch import LaunchDescription
 from launch_ros.actions import Node
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration, PathJoinSubstitution, TextSubstitution
+from ament_index_python.packages import get_package_share_directory
+from os.path import join
+
+pkg_andino_bringup = get_package_share_directory('andino_bringup')
 
 def generate_launch_description():
-    return LaunchDescription([
+    # Declare launch argument for the path to the camera params YAML file (the 'file://' part is mandatory, you can't skip it)
+    intrinsic_params_file = DeclareLaunchArgument(
+        'intrinsic_params_file',
+        default_value='file://' + join(pkg_andino_bringup, 'config', 'raspicam.yaml'),
+        description='Path to camera intrinsics YAML file'
+    )
 
+    return LaunchDescription([
+        intrinsic_params_file,
         Node(
             package='v4l2_camera',
             executable='v4l2_camera_node',
+            name='v4l2_camera_node',
             output='screen',
             parameters=[{
-                'image_size': [640,480],
-                'camera_frame_id': 'camera_link'
-                }]
-    )
+                'image_size': [640, 480],
+                'camera_frame_id': 'camera_link',
+                'camera_info_url': LaunchConfiguration('intrinsic_params_file'),
+            }],
+        )
     ])

andino_firmware/README.md

@@ -37,7 +37,7 @@ Via `serial` connection (57600 baud) it is possible to interact with the microco
 
  - Get encoder values: `'e'`
  - Set open-loop speed for the motors[pwm] `'o <left> <right>'`
-   - Example to move forward full speed: `'o 255 255'` 
+   - Example to move forward full speed: `'o 255 255'`
    - Range `[-255 -> 255]`
  - Set closed-loop speed for the motors[ticks/sec] `'m <left> <right>'`
    - Important!: See the `Test it!` section.

andino_hardware/README.md

@@ -209,6 +209,33 @@ Check camera status:
 vcgencmd get_camera
 ```
 
+If the output of the previous command is `supported=1 detected=1', everything is fine. If not, your camera won't work correctly, you need to perform some configuration first.
+
+Modify the `config.txt` file for the boot:
+
+```sh
+ sudo nano /boot/firmware/config.txt
+```
+
+And add these lines:
+
+```
+# Autoload overlays for any recognized cameras or displays that are attached
+# to the CSI/DSI ports. Please note this is for libcamera support, *not* for
+# the legacy camera stack
+start_x=1
+gpu_mem=128
+```
+
+Save and close the file. Then we need to enable the camera support for the raspberry:
+
+```sh
+sudo raspi-config
+```
+
+Go to `Interface Options`, select `camera` and enable it.
+
+Finally, you just need to reboot and the camera should be working fine.
 
 #### RPLidar installation
 
@@ -344,7 +371,7 @@ Let' source the ROS Humble installation:
 ```
 source /opt/ros/humble/setup.bash
 ```
-Let's build the packages (`andino_gz_classic` and `andino_apps` work only in simulation):
+Let's build the packages (`andino_gz_classic` and `andino_apps` relies on simulation so we skip them):
 ```
 colcon build --packages-skip andino_gz_classic andino_apps
 ```