Help with real robot

[thanhtruongphan]

Hi @hippo5329, see your robot tank very interesting.

now, I don't have a LD19 lidar and Driver for Robots like you, I have an A1M8, and L298. Should I buy a new Driver? (In that case, I must order from abroad. yeah It'll take a long time 😄 )

here is a sample I'm doing with

[hippo5329]

A1M8 and L298 are fine.
What is your battery and motor spec?
The wheel encoder power should be 3.3V. Do not use 5V, which will fry your controller.
You can use a esp32 instead of teensy.

[hippo5329]

L298
AEN and BEN use jumper plug shorted to high.
IN1-IN4 to esp32 pwm

[hippo5329]

Take some picture of your wiring.

esp32 power from usb of rpi.

MPU6050 power from VOUT 5V of esp32.
esp32 I2C SDA SCL need 2.2K to V33 3.3V of esp32 module.

L298 uses on-board 5V jumper plug.

You will need a 3.3V regulator (LM1117 etc) for encoder ,from L298 5V output.

[thanhtruongphan]

yeah, I sovled the problem comunicate SBC with ubuntu laptop linorobot/linorobot2#2 (comment)

now, I need to do some works with my Jeston nano devkit, (i have never used it before)
I will comeback to do with esp soon... 🥲

[hippo5329]

https://nshopvn.com/product/mach-giam-ap-3-3v-ams1117/

[hippo5329]

esp32 i/o pins assignment
motor 19 18 16 17 13 12 4 23, power 12V gnd, 2 PWM pins (INA, INB) driver
encoder 35 34 39 36 32 27 26 25, power 3.3V gnd
i2c scl 22 sda 21, power 3.3v gnd, need 2.2k pull high to 3.3V
battery adc 33, divider 12V-33k-10k-gnd (dac 25, used only during adc calibration)
uart0 txd 1 rxd 3
led 2

[hippo5329]

2WD unused pwm 13 12 4 23 encoder 32 27 26 25 pins leave unconnected.

You need 33K and 10k for battery voltage sensor. It is important to debug motor issue.

[hippo5329]

laptop --wifi -- rpi --usb-- A1M8 and esp32
vscode -- remote development ssh -- rpi -- esp32

[hippo5329]

Jetson nano SDK uses ubuntu 18.04

You can try community image,
https://forums.developer.nvidia.com/t/ubuntu-22-04-image-beta-test-for-jetson-nano/253301

[thanhtruongphan]

https://forums.developer.nvidia.com/t/ubuntu-22-04-image-beta-test-for-jetson-nano/253301

this image is not secure. It's just beta and some people say it has many problems (in the comments of this link)

instead, chatGPT says I can install Ubuntu 20.04 on Jetson, then use LXD to create a container of Ubuntu 22.04 with ROS-humble or Ubuntu 24 with ROS-jazzy, right?
Does it work ok? can you share some things with me? hehe

[thanhtruongphan]

i forgot, i still need the official supported version for the jetson nano devkit for image processing

[thanhtruongphan]

Is this possible? good evening @hippo5329
my idea is: I install the official Ubuntu with SDK support for Jetson nano dev kit as the default OS (ubuntu 18.04 as you said), I do a project on autonomous vehicles with image processing, I use LXD to install ROS2 humble on Ubuntu 22.04, to operate the autonomous vehicle, and the image processing feature is still used on the default OS to take advantage of the default features of Jetson, is that okay? 🦝

[hippo5329]

You can try docker on jetson nono.

[hippo5329]

"Docker is included in JetPack, so running containers on Jetson is easy and does not require any installation. "

https://developer.nvidia.com/embedded/learn/tutorials/jetson-container
https://www.forecr.io/blogs/installation/how-to-install-and-run-docker-on-jetson-nano

https://developer.nvidia.com/embedded/l4t/r32_release_v7.1/jp_4.6.1_b110_sd_card/jeston_nano/jetson-nano-jp461-sd-card-image.zip

[thanhtruongphan]

oh, docker also new for me ...
however worth to try...huh

🥇

[hippo5329]

https://github.com/DominikN/ros2_docker_example

[hippo5329]

https://github.com/Qengineering/Jetson-Nano-image
I've tried this image before. login jetson jetson

https://github.com/jetsonhacks/bootFromUSB
I've also tried this.. Much faster than SD.

https://github.com/Qengineering/Jetson-Nano-Ubuntu-20-image
seem popular, but I don't remember if I tried this

https://kalanaratnayake.medium.com/reviving-jetson-nano-with-ubuntu-20-04-2dc1f82b18f4

[hippo5329]

You can use either docker or lxd. docker is is easier to share and more popular. There are official ros2 docker images.

https://roboticseabass.com/2023/07/09/updated-guide-docker-and-ros2/

https://docs.ros.org/en/jazzy/How-To-Guides/Run-2-nodes-in-single-or-separate-docker-containers.html

https://hub.docker.com/_/ros/

https://docs.ros.org/en/iron/How-To-Guides/Setup-ROS-2-with-VSCode-and-Docker-Container.html

https://github.com/DominikN/ros2_docker_examples

https://divyanshu-raj.medium.com/ros-2-with-docker-part-1-9060f3095811

I use lxd heavily for many years.
sudo snap install lxd --channel=latest/stable

https://documentation.ubuntu.com/lxd/en/latest/tutorial/first_steps/
https://artivis.github.io/post/2022/ros2-humble/
https://dev.to/tsadarsh/lxd-for-runing-different-ros2-versions-362d

[thanhtruongphan]

thank you! 💯

all the links are helpful for me. 👍
because Docker is popular and many guideline use Docker (ex. https://forums.developer.nvidia.com/t/ros2-and-ubuntu-22-on-jetson-nano-developer-kit/280470)
,so I'll use it for start.

[hippo5329]

You should update to Jazzy. Most humble example code will work.

[thanhtruongphan]

It's late. G9. See you.

[thanhtruongphan]

alright!~ @hippo5329

I've done with ROS2-humble on my Jetson nano devkit and test simple
**ros2 run demo_nodes_cpp talker/listener**, it's OK.

I also have learned a lot of command lines with Docker and now I realize that I just need to:

sudo docker run -it ...

sudo docker stop/start

sudo exec...

😸
that's fine.

I'll wiring up everything together, and then
please help me with esp32 tomorrow morning. 🥇
-thank you-

[thanhtruongphan]

I also bought an ESP32 and ASM1117 regulator to 3.3V for encoder.
I'll follow up your instructions above and here is my components:

• esp32​
  https://nshopvn.com/product/kit-rf-thu-phat-wifi-bluetooth-esp32/?variant=134223​
  ​
• mpu6050 (GY-521)​
  https://hshop.vn/cam-bien-6-dof-bac-tu-do-gy-521-mpu6050​
  ​
• Bestep L298​
  https://hshop.vn/mach-dieu-khien-dong-co-dc-l298-1​
  ​
• Motor with incremental hall encoder​
  https://www.thegioiic.com/bo-dong-co-giam-toc-ga25-370-12vdc-encoder-gan-banh-xe-truc-4mm-130rpm​

Ps: It has 130rpm max, ​

And 11 pulses encoder, gearbox-ratio 45:1​

So number of pulses after gearbox with quadrature encoder x4 will be : 11x45x4 = 1980 ppr​
​

• Pack 18650 pin 3s7p (12.6V output max and 9V while low batteries) ​
  -> to a regulator 12V for two motors and​

-> regulator 5V for JetsonNano​
​

• Lidar A1M8​
  ​

• Jetson nano devkit with ROS2-humble container​
  ​

[thanhtruongphan]

now, without Raspi, use Jetson instead, so esp32 will do with base-controller and Jetson like a PC, I think it's same with your robot now, right?
so I'll need some change to do with l298 and a1m8. I can't do it without you haha

[hippo5329]

And 11 pulses encoder, gearbox-ratio 45:1​

So number of pulses after gearbox with quadrature encoder x4 will be : 11x45x4 = 1980 ppr​ ​

11x45 = 495

[hippo5329]

andino looks good.

[thanhtruongphan]

yeah, right.

Okay, time to go to bed. so, see you.

[hippo5329]

Nice.

[thanhtruongphan]

But as you known, My Jetson nano is on Ubuntu 20.04, and the robot we made is on ROS2 humble, I still can't add my code detect person to my robot.

GPT said that we can communicate humble with foxy, so I tried.

First,
I installed ROS2 on my Jetson local, yah, its ROS2 foxy. Then I created a node, and then copied that detect code to node, and ran, but it's didn't work, too. So weird... Haha

Second,
I tried a simple talker/listener between foxy and humble, yah, It didn't work 🥲

[hippo5329]

The RMW broadcast does not work between docker and the host. So you will need to choose either one, but not both.

1. Use docker to run person detection and ros2 humble.
2. OR, run person detection and ros2 foxy on host.

To install foxy on host, https://github.com/hippo5329/linorobot2_hardware/wiki#install-linorobot2-on-ubuntu-2004-and-foxy

[thanhtruongphan]

Use the same process as jazzy and replace jazzy with foxy

Oh, you mean, we can make my robot with foxy and not need docker humble?

Then why do we make it with docker humble, I forgot... Haha

[thanhtruongphan]

I'm trying with foxy now, yah, hope it works well 🙏

[hippo5329]

It is because you wanted humble. :)

[thanhtruongphan]

haha how stupid I am... 👯

however, thanks to that I know how to use docker container. It's so cool. 👍

[hippo5329]

I remember the ubuntu 22.04 jetson docker image has some nvidia updates. You can also try person detection inside docker.

[thanhtruongphan]

yah, I'll try

[thanhtruongphan]

omg,

[hippo5329]

micro-ros is not connected. check pico.

[thanhtruongphan]

so weird, does the code in pico disappear after a while?

[hippo5329]

No, it should not. Check if /dev/ttyACM0 exist. Check lsusb , lsusb -t.

[thanhtruongphan]

@hippo5329 I thought like you. It works now, but I had to reupload firmware to pico, 🐳

[thanhtruongphan]

@hippo5329
I've made a simple PCB, and work with new BTS7960 motor driver.

wiring same as the works I did before. But my Pico doesn't work. It doesn't show up a /ttyACM0.

I thought it was dead but when I unplugged the Pico from my PCB, it worked again. 🥲

do you have any ideas... help me, pls.

ah, I also use this motor for a bigger robot https://vi.aliexpress.com/i/4000945809249.html?gatewayAdapt=glo2vnm

[thanhtruongphan]

Or is the encoder on this motor using 5V instead of 3.3V?

[hippo5329]

You should connect the VCC pin on the motor to 3.3V from LM1117-3.3. Do not use 5V.

[thanhtruongphan]

I will fix it step by step...

[hippo5329]

We need to consider,

1. power sequence
2. pico 3.3v tolerance
3. mpu6050 moudle has internal 3.3V regulator

battery 12v -> 5V step down power module to rpi USB-C (power, or pin 2,4 of 40 pins header), and 5V of BTS7960

rpi USB -> pico VBUS (*5V)-> MPU6050 VCC(*5V), and Vin(*5V) of LM1117-3.3, Vout to VCC(*3.3V) of motor encoder

Do not connect 5V from step down power module to pico or MPU6050. They are different powers.

Do not connect LM1117-3.3 output to mpu6050 or pico.

Gnd matches the same rules above.

2.2K I2C SDA SCL pull up to pico 3V3

[thanhtruongphan]

Yah great @hippo5329
I retested all and you're right. I shouldn't connect VCC of MPU with 3.3v of ASM1117. And there must have been a short circuit somewhere (maybe because I soldered too hot), so when I used the old breadboard, it had no errors.

This is the first time I do with handmade PCB, so maybe It has many problems about when I create it. 😂

I will create a new one more beautiful and it should works well 🥲

[thanhtruongphan]

And with new bigger motor, I should modify PID values,
Because It has high overshoot. When receiving cmd_vel, it jerks then stops for 1 second before continuing.

[hippo5329]

Do not tune the PID yet. You should adjust velocity smoother to lower acc.

https://github.com/hippo5329/linorobot2_hardware/wiki#velocity-smoother---optional

And you should add the battery sensor, it is more important for bigger robots.

[thanhtruongphan]

hi @hippo5329,

Happy New Year!

and hope you had a wonderful holiday 👍

[thanhtruongphan]

long time no see,
Actually, I had some health problems so I couldn't do much in December.

now, I'm working with this robot, and maybe It has some problems,

when I run sudo docker compose up bring up:

It confuses me,
help me, pls 🥇

[thanhtruongphan]

hmm... I've checked Lidar, It works fine.

I thought that It would be safe on docker... haha

[thanhtruongphan]

No, I mean, Lidar doesn't be broken.
But the error here. I still don't know why it is.

[hippo5329]

HaHa. Ok.

Please check the lidar in the docker.

ls /dev/ttyUSB* -l

Make sure the rw permission is like this,

crw-rw-rw- 1 root dialout 166, 0 Jan  2 16:36 /dev/ttyUSB0

Then view the lidar in the docker,

ros2 launch sllidar_ros2 view_sllidar_a1_launch.py

[thanhtruongphan]

Okey,
I reclone linorobot2 and linorobot2_hardware to rebuild.

No Lidar error now, but my storage is full when sudo docker compose build , I'll clean somethings

[thanhtruongphan]

@hippo5329
so weird.
I recloned linorobot2, then run sudo docker compose up bringup, it's fine and no errror.
but after I run sudo docker compose build, errror happen:

I checked lidar:

[hippo5329]

There is no need to do "docker compose build". You can run "docker compose up ..." directly. As you mentioned about disk space, have you cleaned up the space? Latency..

[thanhtruongphan]

yah, I cleaned my Jetson, now It has 2GB free, enough for work.

now, I run

sudo docker compose up bringup

It will:

and webtop
sudo docker compose up -d webtop bringup debug...
error too:

[hippo5329]

You may try delete the linorobot2 and clone again. Make sure you edit the docker/.env.

rm -rf linorobot2
git clone ....

[thanhtruongphan]

I just have recloned linorobot2 from your repo, It doesn't work, I will clone again from linorobot repos.

Btw, This error could be from my new pcb board or not?
Because I've made a new pcb handmade board, see it 🤭

[thanhtruongphan]

okey @hippo5329,

tried with linorobot2 again, and result:

[hippo5329]

After you made a new board, did you run through all the test_motors test_sensors and test_acc?

Check all the topics hz, eg /imu/data /scan.

[thanhtruongphan]

Yah, I'm doing....

[thanhtruongphan]

I'm cleaning my Jetson for more storage, then run these test with ros2 on docker container

[thanhtruongphan]

hey @hippo5329,
I checked all, after modified so much on my new board... 😸

then test_vel, test_acc, wheels run fine.
but the error same before.

I checked:

• bringup
  

• check node list and topic list ROS2 on docker container 🥲
  

• check imu/data
  

• drive robot with keyboard ROS2 on docker container ros2 run teleop_twist_keyboard teleop_twist_keyboard okay, it works.

[hippo5329]

Please run a ros2 docker, build and view the lidar. Check the scan hz. This should be the same as in linorobot2 docker.

https://github.com/Slamtec/sllidar_ros2

[thanhtruongphan]

try with ROS2 on my laptop, it works fine.

but try with ROS2 in docker on my Jetson nano, no work...

ps: I created a docker with all privileged
sudo docker run -it --name ros-humble-container -v /dev:/dev --privileged --runtime nvidia --network host --gpus all -e DISPLAY=$DISPLAY -e QT_X11_NO_MITSHM=1 -v /tmp/.X11-unix:/tmp/.X11-unix:rw -v $XAUTHORITY:/root/.Xauthority dustynv/ros:humble-desktop-l4t-r36.4.0

then follow this https://github.com/Slamtec/sllidar_ros2 to create workspace and launch sllidar

[thanhtruongphan]

@hippo5329 I test again on my ROS2 laptop,
It does not work

sometime works

could it be my Lidar?

[thanhtruongphan]

test again in Jetson, look good with
sudo docker compose up bringup

but

[thanhtruongphan]

Please run a ros2 docker, build and view the lidar. Check the scan hz. This should be the same as in linorobot2 docker.
https://github.com/Slamtec/sllidar_ros2

yah,

[hippo5329]

Good. The lidar worked though rviz failed because we did not install webtop. Did you save your previous .env? Please post your .env.

[thanhtruongphan]

yah, I saved. I see both .env same.

# Robot type. Available variables: 2wd 4wd mecanum
ROBOT_BASE=2wd

# 2D laser scanner to be used. Available variables: ldlidar rplidar ydlidar xv11
LASER_SENSOR=a1

# Depth sensor to be used. Available variables: realsense zed zedm zed2 zed2i
DEPTH_SENSOR=

# Type of installation. Available variables:
# simulation - Install Gazebo and plugins
# hardware - Install with microros
DEPLOY=hardware

# Default ROS_DOMAIN_ID
ROS_DOMAIN_ID=0

# Launch custom robot launch file. DO NOT SET THIS unless you're using a custom launch file.
CUSTOM_ROBOT=false

# Launch extra launch file
LAUNCH_EXTRA=false

# Odometry topic
ODOM_TOPIC=/odom

# Lidar Serial Port
LIDAR_SERIAL_PORT=/dev/ttyUSB0

# Base Serial Port
BASE_SERIAL_PORT=/dev/ttyACM0

# Launch Joystick
LAUNCH_JOYSTICK=false

# Use GPU if GPU is installed
# nvidia To enable
# leave blank to disable
RUNTIME=

UBUNTU_VER=22.04
USE_ROS_DISTRO=humble

# VNC DISPLAY
DISPLAY=:200

# RMW=cyclonedds
RMW=fastrtps

[hippo5329]

The .env file is fine. Do you have another micro-sd? Please try create another jetson image. Or you can try usb disk.