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Apple kraken stack

This repository contains two ROS2 packages:

  • o3de_kraken_nav
  • o3de_kraken_orchestration

Packages Description

O3DE Kraken Navigation

Provides navigation capabilities for the Apple Kraken vehicle.

O3DE Kraken Orchestration

Allows the Apple Kraken vehicle to operate autonomously.

ROS2 prerequisites

Middleware

  • CycloneDDS
sudo apt install ros-${ROS_DISTRO}-cyclonedds ros-${ROS_DISTRO}-rmw-cyclonedds-cpp

It is required that CycloneDDS implementation is chosen in every working terminal:

export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp

Packages

On top of dependencies for the agricultural demo project, you will also need some additional ROS2 packages.

  1. Make sure to source the Humble distribution's setup script

    source /opt/ros/humble/setup.bash

  2. Run the following command to install the remaining required packages

    sudo apt install ros-${ROS_DISTRO}-slam-toolbox ros-${ROS_DISTRO}-navigation2 ros-${ROS_DISTRO}-nav2-bringup ros-${ROS_DISTRO}-pointcloud-to-laserscan ros-${ROS_DISTRO}-teleop-twist-keyboard ros-${ROS_DISTRO}-ackermann-msgs ros-${ROS_DISTRO}-topic-tools

  3. You will also need colcon installed in order to build the workspace. Run the following command to install.

    sudo sh -c 'echo "deb [arch=amd64,arm64] http://repo.ros2.org/ubuntu/main `lsb_release -cs` main" > /etc/apt/sources.list.d/ros2-latest.list'

curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -

sudo apt update
sudo apt install python3-colcon-common-extensions

Libraries

The o3de_kraken_orchestration package uses the python-statemachine library.
You can install it by running the following command

pip install python-statemachine

Note: Make sure you have the pip Python package manager installed.

Installation

  1. Source ROS 2 Humble
source /opt/ros/humble/setup.bash
  1. Build the workspace
cd ./kraken_nav
colcon build --symlink-install

Running simulation

  1. Build and run the ROSConDemo
  2. Load level Main
  3. Start a simulation by hitting CTRL+G

Usage scenario

Base step (for every scenario)

Please make sure that the enviroment is correct. Note that you need to set it up for every console. You can consider adding it to your ~/.bashrc.

  1. Make sure that you have ROS 2 workspace sourced
source ./kraken_nav/install/setup.bash
  1. Make sure that you have CycleDDS as middleware
export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp

Single robot teleoperation with joystick

  1. Start teleoperation launch, make sure that you have your joystick plugged in
ros2 launch o3de_kraken_nav teleop.launch.py namespace:=apple_kraken_rusty_1
  1. Spawn a single robot
ros2 service call /spawn_entity gazebo_msgs/srv/SpawnEntity '{name: 'apple_kraken_rusty', xml: 'line1'}'
  1. You should be able to drive the robot

Single robot navigation

Note: Slam is turned off by default since we have ground truth information about the robot's position from the simulator. However, it is possible to enable slam_toolbox forcefully. You can allow slam by adding use_slam:=True to the navigation launch command.

  1. Run the navigation stack
ros2 launch o3de_kraken_nav navigation_multi.launch.py namespace:=apple_kraken_rusty_1 rviz:=True
  1. Spawn the robot
ros2 service call /spawn_entity gazebo_msgs/srv/SpawnEntity '{name: 'apple_kraken_rusty', xml: 'line1'}'
  1. You should be able to send goal to the robot. Make sure that that you use only the first 2D Goal Pose

Multiple robots navigation

Note: Slam is turned off by default since we have ground truth information about the robot's position from the simulator. However, it is possible to enable slam_toolbox forcefully. You can allow slam by adding use_slam:=True to the navigation launch command.

  1. Run the first navigation stack with Rviz param set to True:
ros2 launch o3de_kraken_nav navigation_multi.launch.py namespace:=apple_kraken_rusty_1 rviz:=True
  1. Run the navigation stack for rest of the robots (in separate terminals):
ros2 launch o3de_kraken_nav navigation_multi.launch.py namespace:=apple_kraken_shiny_2 rviz:=False
ros2 launch o3de_kraken_nav navigation_multi.launch.py namespace:=apple_kraken_rusty_3 rviz:=False
ros2 launch o3de_kraken_nav navigation_multi.launch.py namespace:=apple_kraken_shiny_4 rviz:=False
  1. Spawn multiple robots
ros2 service call /spawn_entity gazebo_msgs/srv/SpawnEntity '{name: 'apple_kraken_rusty', xml: 'line1'}' &&
ros2 service call /spawn_entity gazebo_msgs/srv/SpawnEntity '{name: 'apple_kraken_shiny', xml: 'line2'}' &&
ros2 service call /spawn_entity gazebo_msgs/srv/SpawnEntity '{name: 'apple_kraken_rusty', xml: 'line3'}' &&
ros2 service call /spawn_entity gazebo_msgs/srv/SpawnEntity '{name: 'apple_kraken_shiny', xml: 'line4'}'
  1. You should be able to send goals to multiple robots.

Multiple robots with Kraken stack

In this scenario on top of four navigation stacks, the orchestrator nodes are executed. Those are providing navigation stacks with goals and trigger apple gathering.

  1. Run the first navigation stack with Rviz param set to True:
ros2 launch o3de_kraken_nav navigation_multi.launch.py namespace:=apple_kraken_rusty_1 rviz:=True
  1. Run the navigation stack for the rest of the robots (in separate terminals):
ros2 launch o3de_kraken_nav navigation_multi.launch.py namespace:=apple_kraken_shiny_2 rviz:=False
ros2 launch o3de_kraken_nav navigation_multi.launch.py namespace:=apple_kraken_rusty_3 rviz:=False
ros2 launch o3de_kraken_nav navigation_multi.launch.py namespace:=apple_kraken_shiny_4 rviz:=False
  1. Run the orchestration nodes for all the robots (in separate terminals):
ros2 run o3de_kraken_orchestration kraken_orchestration_node --ros-args -p robot_name:=apple_kraken_rusty_1 -p spawn_line:=line1
ros2 run o3de_kraken_orchestration kraken_orchestration_node --ros-args -p robot_name:=apple_kraken_shiny_2 -p spawn_line:=line2
ros2 run o3de_kraken_orchestration kraken_orchestration_node --ros-args -p robot_name:=apple_kraken_rusty_3 -p spawn_line:=line3
ros2 run o3de_kraken_orchestration kraken_orchestration_node --ros-args -p robot_name:=apple_kraken_shiny_4 -p spawn_line:=line4