drivers

Wheeltec Roboworks drivers

ROS 2 packages

SSH

IP can be from 192.168.101 to 192.168.104 look at https://github.com/robotverseny/fyi

ssh wheeltec@192.168.0.101

password: dongguan

SSH no password: https://github.com/szenergy/szenergy-public-resources/wiki/H-SSH-no-password

Packages and build

It is assumed that the workspace is ~/ros2_ws/.

Clone the packages

cd ~/ros2_ws/src

git clone https://github.com/robotverseny/drivers

Required

sudo apt update

lslidar_driver needs libpcap0.8-dev, not libpcap-dev.

sudo apt install libpcap0.8-dev libpcl-dev libboost-all-dev ros-jazzy-nav2-msgs ros-jazzy-ackermann-msgs ros-jazzy-tf2-msgs ros-jazzy-tf2-geometry-msgs ros-jazzy-joint-state-publisher ros-jazzy-robot-localization ros-jazzy-usb-cam ros-jazzy-foxglove*

cd ~/ros2_ws

rosdep install --from-paths src --ignore-src -y

rosdep update

Build ROS 2 packages

cd ~/ros2_ws

colcon build --symlink-install --packages-select serial wheeltec_robot_msg lslidar_msgs lslidar_driver turn_on_wheeltec_robot wheeltec_robot_urdf usb_cam_launcher

wheeltec_py_package do not built with this command. (further work is needed TODO)

Don't forget to source before ROS commands.

source ~/ros2_ws/install/setup.bash

Add similar to ~/.bashrc

source /opt/ros/jazzy/setup.bash
export RCUTILS_COLORIZED_OUTPUT=1

my_ip=$(ip a | grep 192. | awk '{print $2}' | cut -d'/' -f1 | head -n 1)
echo -e "robo_f | \e[44m$my_ip\e[0m | fekete - black"

Driver installation

sudo dmesg | grep tty

[    0.000000] Kernel command line: reboot=w coherent_pool=1M 8250.nr_uarts=1 pci=pcie_bus_safe snd_bcm2835.enable_compat_alsa=0 snd_bcm2835.enable_hdmi=1  smsc95xx.macaddr=2C:CF:67:33:1D:14 vc_mem.mem_base=0x3fc00000 vc_mem.mem_size=0x40000000  zswap.enabled=1 zswap.zpool=z3fold zswap.compressor=zstd multipath=off dwc_otg.lpm_enable=0 console=tty1 root=LABEL=writable rootfstype=ext4 rootwait fixrtc quiet splash
[    0.000198] printk: legacy console [tty1] enabled
[    0.017826] 107d001000.serial: ttyAMA10 at MMIO 0x107d001000 (irq = 15, base_baud = 0) is a PL011 rev2
[    0.625036] 107d50c000.serial: ttyS0 at MMIO 0x107d50c000 (irq = 39, base_baud = 6000000) is a Broadcom BCM7271 UART
[    0.625133] serial serial0: tty port ttyS0 registered
[    5.321466] usb 2-1.3: cp210x converter now attached to ttyUSB0
[    5.335873] usb 2-1.4: cp210x converter now attached to ttyUSB1

lsusb 

Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
Bus 002 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
Bus 002 Device 002: ID 1a40:0101 Terminus Technology Inc. Hub
Bus 002 Device 004: ID 10c4:ea60 Silicon Labs CP210x UART Bridge
Bus 002 Device 005: ID 10c4:ea60 Silicon Labs CP210x UART Bridge
Bus 003 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
Bus 004 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
Bus 004 Device 002: ID 05e3:0608 Genesys Logic, Inc. Hub
Bus 004 Device 006: ID 2bc5:050e Orbbec 3D Technology International, Inc USB 2.0 Camera
Bus 004 Device 007: ID 2bc5:060e Orbbec 3D Technology International, Inc ORBBEC Depth Sensor
Bus 005 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub

sudo nano /etc/udev/rules.d/usb.rules

sudo su

echo  'KERNEL=="ttyUSB*", ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="ea60",ATTRS{serial}=="0002", MODE:="0777", GROUP:="dialout", SYMLINK+="wheeltec_controller"' >/etc/udev/rules.d/wheeltec_controller.rules
echo  'KERNEL=="ttyUSB*", ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="ea60",ATTRS{serial}=="0001", MODE:="0777", GROUP:="dialout", SYMLINK+="wheeltec_laser"' >/etc/udev/rules.d/rplidar_laser.rules
echo  'KERNEL=="ttyUSB*", ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="ea60",ATTRS{serial}=="0003", MODE:="0777", GROUP:="dialout", SYMLINK+="wheeltec_laser"' >/etc/udev/rules.d/ld14.rules
echo  'KERNEL=="ttyCH343USB*", ATTRS{idVendor}=="1a86", ATTRS{idProduct}=="55d4",ATTRS{serial}=="0002", MODE:="0777", GROUP:="dialout", SYMLINK+="wheeltec_controller"' >/etc/udev/rules.d/wheeltec_wheeltec.rules

service udev reload
sleep 2
service udev restart

sleep 2
udevadm control --reload-rules
sleep 2
udevadm trigger

ls /dev/wh*

Result:

/dev/wheeltec_controller  /dev/wheeltec_laser

sudo udevadm control --reload-rules && sudo udevadm trigger

cd ~/ros2_ws/src/drivers/turn_on_wheeltec_robot

sudo chmod +x wheeltec_udev.sh

./wheeltec_udev.sh

Run the driver

Lidar driver:

ros2 launch lslidar_driver lslidar_launch.py

Camera driver:

ros2 launch usb_cam_launcher usb_cam_a.launch.py

All in one:

ros2 launch turn_on_wheeltec_robot turn_on_wheeltec_robot.launch.py lidar:=true camera:=true foxglove:=true joy:=false

You can select the lidar, camera, foxglove, joy with true or false.

Copy robags (mcap)

rsync -avzh --progress wheeltec@192.168.0.100:/home/wheeltec/bag/my_record1 /mnt/c/bag/

Topic list

TODO: Update the list (this only the first version)

Topic	Hz	Msg Type
/ackermann_cmd	0.06	ackermann_msgs/msg/AckermannDriveStamped
/cmd_vel	0.06	geometry_msgs/msg/Twist
/scan	10.0	sensor_msgs/msg/LaserScan
/lslidar_point_cloud	10.0	sensor_msgs/msg/PointCloud2
/robotvel	20.01	wheeltec_robot_msg/msg/Data
/robotpose	20.01	wheeltec_robot_msg/msg/Data
/imu	19.61	sensor_msgs/msg/Imu
/power_voltage	1.63	std_msgs/msg/Float32
/odom_combined	39.24	nav_msgs/msg/Odometry
/robot_description	N/A	std_msgs/msg/String
/tf	29.65	tf2_msgs/msg/TFMessage
/tf_static	0.10	tf2_msgs/msg/TFMessage
/joint_states	10.00	sensor_msgs/msg/JointState

Links

• github.com/robotverseny/fyi