Real robot demos
These are the commands to run the warehouse demo on real robots.
Setup
We are using 3 Kobuki robots, each with a Raspberry PI 3B mounted on top and running the drivers (for the motors and the 2D Lidar). Each robot is connected (either with a cable or trough the wifi network) to a controller PC (Dell XPS 13 7390) running the high level control (nav2, multi-robot communication etc.).
[!NOTE] To run these demos, you'll have to : - clone the mb6-space repository on the PIs, and checkout on the
multibotbranch - clone this repository on the operator and controller PCs
Methods
1. Namespaces
⚠️ NOT WORKING
On the Raspberry PI : Uncomment this line in the mb6-space/bin/start-tbot.sh file
ROS_DOMAIN_ID=99 ros2 launch multibot multibot.launch.py type:="namespace"
On the operator PC :
ros2 launch multibot warehouse_namespace_operator.py
On the Controller PCs :
ros2 launch multibot warehouse_namespace_launch.py robot_id:=22
ros2 launch multibot warehouse_namespace_launch.py robot_id:=23
ros2 launch multibot warehouse_namespace_launch.py robot_id:=24
2. Domain ID Bridge
On the Raspberry PI : Uncomment this line in the mb6-space/bin/start-tbot.sh file
ros2 launch multibot multibot.launch.py type:="domain_id"
On the operator PC :
ros2 launch multibot warehouse_bridge_operator.py
On the Controller PCs :
ros2 launch multibot warehouse_bridge_launch.py robot_id:=22 operator_domain_id:=99
ros2 launch multibot warehouse_bridge_launch.py robot_id:=23 operator_domain_id:=99
ros2 launch multibot warehouse_bridge_launch.py robot_id:=24 operator_domain_id:=99
3. FastDDS Discovery servers
⚠️ HALF WORKING
On the Raspberry PI : Uncomment this line in the mb6-space/bin/start-tbot.sh file
ROS_DOMAIN_ID=99 ros2 launch multibot multibot.launch.py type:="discovery"
On the operator PC :
ros2 launch multibot warehouse_dds_operator.py
On the Controller PCs :
ros2 launch multibot warehouse_dds_launch.py robot_id:=22 robot_ip:=10.89.5.22 subnet_dds_server:="10.89.5.90:11811" use_bridge:=false
ros2 launch multibot warehouse_dds_launch.py robot_id:=23 robot_ip:=10.89.5.23 subnet_dds_server:="10.89.5.90:11811" use_bridge:=false
ros2 launch multibot warehouse_dds_launch.py robot_id:=24 robot_ip:=10.89.5.24 subnet_dds_server:="10.89.5.90:11811" use_bridge:=false
Notes : -
robot_ipshould be192.168.1.1when connected in ethernet -use_bridge:=truecreates an infinite loop
4. DDS partitions
⚠️ NOT WORKING
On the Raspberry PI : Uncomment this line in the mb6-space/bin/start-tbot.sh file
ROS_DOMAIN_ID=99 ros2 launch multibot multibot.launch.py type:="partitions"
On the operator PC :
ros2 launch multibot warehouse_partition_operator.py
On the Controller PCs :
ros2 launch multibot warehouse_partition_launch.py robot_id:=22
ros2 launch multibot warehouse_partition_launch.py robot_id:=23
ros2 launch multibot warehouse_partition_launch.py robot_id:=24
5. Zenoh DDS Bridge
On the Raspberry PI : Uncomment this line in the mb6-space/bin/start-tbot.sh file :
ros2 launch multibot multibot.launch.py type:="zenoh"
On the operator PC :
ros2 launch multibot warehouse_zenoh_operator.py
On the Controller PCs :
ros2 launch multibot warehouse_zenoh_launch.py robot_id:=22 robot_ip:=10.89.5.22 operator_ip:=10.89.5.90
ros2 launch multibot warehouse_zenoh_launch.py robot_id:=23 robot_ip:=10.89.5.23 operator_ip:=10.89.5.90
ros2 launch multibot warehouse_zenoh_launch.py robot_id:=24 robot_ip:=10.89.5.24 operator_ip:=10.89.5.90
Note :
robot_ipshould be192.168.1.1when connected in ethernet