Robot practical courses and share mirroring Instructions (Arduino + ROS1 + ROS2 + Gazebo + SLAM + ...)

After five years of trial and effort, after the draw indigo, kinetic version of the experience, the integration of applied robotics enthusiasts Arduino, ROS1, ROS2, Gazebo and SLAM are practical courses image preview release (bug is inevitable! _!) Finally completed.

I am very grateful to the valuable suggestions of students, teachers and enthusiastic blog friends, I wish you all a happy New Year 2020.

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Mirror published a distance (2016) has been almost four years before to understand and use the recommended reading, with your thumbs or a reward grateful:

• A reason to indulge robot operating system, and four Cultivation Cheats

• ROS2 operating system zero-based robot Quick Start

The only need to bring their own Arduino hardware and related accessories:

ROS production robot handle or remote IOT sensor IoT 

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Robot practical courses and share mirrored instructions is divided into six parts, namely:

1. Mirroring instructions

2. Arduino case

3. ROS1 Case

4. ROS2 Case

5. Gazebo Case

6. SLAM Case

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 Mirror undergraduate courses based on production to project-based case-based teaching and practice for these courses (click to open links for details):

• Modern control theory (robot control system theory and application case)
• Professional tools (robot hardware and software design)
• Robot system design and control technology (Projects)
• Computer control technology (robot line case)
• Intelligent human-computer interaction technology (robot interaction case)
• ROS efficient robot programming (basic theory and practice of programming)
• ROS2 efficient robot programming (basic theory and practice of programming)
• Intelligent Robot comprehensive training (Independent Projects and Integrated Design)
• SLAM technology (practice-oriented application for case summary)

Were published covering different periods in teaching mirror, through student use, practice and feedback, and gradually improve and perfect, but because of the limited level and lack of capacity, still there are many problems, self-study and solve.

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Part I: Description Use mirroring

Download link: https: //share.weiyun.com/5yS1hT6 Password: rmxebn

U disk to start the iso image to make use rufus-3.8p, you can go to the official website to download directly, iso image file larger 3.54GB.

实践课已经详细讲解过使用方式，需要用管理员权限启动rufus，具体流程如下图所示。

支持legacy和UEFI双模式。

制作速度依据U盘读写速度而定，SLC盘小于2分钟，年代久远的古董盘超过20分钟也正常。

做好后的课程学习盘内部文件如下图所示：

在开机BIOS设置为U盘启动，或者直接快捷方式更改启动顺序设定U盘为先。

此处需注意，legacy和UEFI启动界面略有差异，镜像支持安装：

打开终端，输入$ sudo ubiquity    输入密码：ros

此镜像为个人上课使用，测试时间2018.6-2020.1，用户名为博客名，不喜欢可以随意修改。

测试过10+型号笔记本和台式机，兼容性良好，也有部分电脑需要专业级设置，属于个别案例。

测试截图如下：

1. U盘系统：

较新配置台式机

较旧配置台式机

2. U盘镜像：

较新配置笔记本

较旧配置笔记本

Desktop

Arduino

# ROS 1.0 melodic or ROS 2.0 Dashing
echo Hello, ROS 1.0 or ROS 2.0? 1=Melodic 2=Dashing 
read ROS
if (($ROS==1));then
source /opt/ros/melodic/setup.bash
#export ROS_PACKAGE_PATH=/home/relaybot/RobTool/ROS1/Wiki/src:/home/relaybot/RobTool/Cozmo/ros/src:$ROS_PACKAGE_PATH
#source /home/relaybot/RobTool/ROS1/Wiki/devel/setup.bash
#export ROS_MASTER_URI=http://192.168.1.100:11311
#export ROS_IP=192.168.1.100
echo "Melodic"
elif (($ROS==2));then
source /opt/ros/dashing/setup.bash
echo "Dashing"
else
echo "Non-ROS"
fi

# turtlebot3 model env TURTLEBOT3_MODEL  model type [burger, waffle, waffle_pi]" name="model"
export TURTLEBOT3_MODEL=waffle

ROS1+ROS2

Gazebo

SLAM    高翔 等著, 视觉SLAM十四讲：从理论到实践（第2版）

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第二部分：Arduino案例

• AD0-LED13

// These constants won't change. They're used to give names to the pins used:
int i=0,j=0,stime=32,sloop=0;
const int atime=16;
const int analogInPin = A0;  // Analog input pin that the potentiometer is attached to

int sensorValue = 0;        // value read from the pot
int outputValue = 0;        // value output to the PWM (analog out)

void setup() {
  // initialize serial communications at 9600 bps:
  pinMode(LED_BUILTIN, OUTPUT);  
  Serial.begin(9600);
}

void loop() {
  // read the analog in value:
  sensorValue = analogRead(analogInPin);
  // map it to the range of the analog out:
  outputValue = map(sensorValue, 0, 1023, 0, atime);
  // change the analog out value:
  stime=outputValue;
  // print the results to the Serial Monitor:
  //Serial.print("sensor = ");
  //Serial.print(sensorValue);
  //Serial.print("\t output = ");
  //Serial.println(outputValue);
  ledfade(stime);
  // wait 2 milliseconds before the next loop for the analog-to-digital
  // converter to settle after the last reading:
}

void ledfade(int i)
{
      digitalWrite(LED_BUILTIN, HIGH);   // turn the LED on (HIGH is the voltage level)
      delay(i);                          // wait for a second
      digitalWrite(LED_BUILTIN, LOW);    // turn the LED off by making the voltage LOW
      delay(atime-i);                    // wait for a second
}

• AD3&4&5-/cmd_vel(ROS)

#if (ARDUINO >= 100)
 #include <Arduino.h>
#else
 #include <WProgram.h>
#endif
#include <ros.h>
#include <rosserial_arduino/Adc.h>
#include <geometry_msgs/Twist.h>

ros::NodeHandle nh;

rosserial_arduino::Adc adc_msg;
geometry_msgs::Twist twist_msg;
ros::Publisher p("adc", &adc_msg);
ros::Publisher t("cmd_vel", &twist_msg); 
//turtlesim turtle1/cmd_vel
//turtlebot3 cmd_vel
//husky cmd_vel
void setup()
{ 
  pinMode(13, OUTPUT);
  nh.initNode();
  nh.advertise(p);
  nh.advertise(t);
}

//We average the analog reading to elminate some of the noise
int averageAnalog(int pin){
  int v=0;
  for(int i=0; i<4; i++) v+= analogRead(pin);
  return v/4;
}

long adc_timer;
int x_mid=600,y_mid=600,x_now=600,y_now=600;
int adc_init=100;
void loop()
{
  adc_msg.adc0 = averageAnalog(0);
  adc_msg.adc1 = averageAnalog(1);
  adc_msg.adc2 = averageAnalog(2);
  adc_msg.adc3 = averageAnalog(3);
  adc_msg.adc4 = averageAnalog(4);
  adc_msg.adc5 = averageAnalog(5);
  x_now=adc_msg.adc5-x_mid;
  y_now=adc_msg.adc4-y_mid;
  adc_init=adc_msg.adc3;
  if(adc_init<10){
    x_mid=adc_msg.adc5;
    y_mid=adc_msg.adc4;
  }
  if(x_now>0)
    twist_msg.linear.x=map(x_now,0,1023-x_mid,0,255);
  else
    twist_msg.linear.x=map(x_now,-x_mid,0,-255,0);
  if(y_now>0)
    twist_msg.angular.z=map(y_now,0,1023-y_mid,0,255);
  else
    twist_msg.angular.z=map(y_now,-y_mid,0,-255,0); 

  twist_msg.linear.x=twist_msg.linear.x/(1024.0-adc_msg.adc0)/4.0;
  twist_msg.angular.z=-twist_msg.angular.z/(1024.0-adc_msg.adc0);
         
  p.publish(&adc_msg);
  t.publish(&twist_msg);
  nh.spinOnce();
//  delay(1);
}

C++&Arduino+ROS

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第三部分：ROS1案例

• turtlesim+action

roscore

rosrun turtlesim turtlesim_node

rosrun turtle_actionlib shape_server

rosrun turtle_actionlib shape_client

rqt_graph

• turtlebot3+rqt_image_view

roslaunch turtlebot3_gazebo turtlebot3_world.launch

rqt_image_view

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第四部分：ROS2案例

• turtlesim+action+rqt

ros2 run turtlesim turtlesim_node

ros2 run turtlesim turtle_teleop_key

rqt

• dummy_robot_bringup+rviz2

ros2 launch dummy_robot_bringup dummy_robot_bringup.launch.py

rviz2

demo.rviz

Panels:
  - Class: rviz_common/Displays
    Help Height: 78
    Name: Displays
    Property Tree Widget:
      Expanded:
        - /Global Options1
        - /Status1
      Splitter Ratio: 0.5
    Tree Height: 435
  - Class: rviz_common/Selection
    Name: Selection
  - Class: rviz_common/Tool Properties
    Expanded:
      - /2D Nav Goal1
      - /Publish Point1
    Name: Tool Properties
    Splitter Ratio: 0.5886790156364441
  - Class: rviz_common/Views
    Expanded:
      - /Current View1
    Name: Views
    Splitter Ratio: 0.5
Visualization Manager:
  Class: ""
  Displays:
    - Alpha: 0.5
      Cell Size: 1
      Class: rviz_default_plugins/Grid
      Color: 160; 160; 164
      Enabled: true
      Line Style:
        Line Width: 0.029999999329447746
        Value: Lines
      Name: Grid
      Normal Cell Count: 0
      Offset:
        X: 0
        Y: 0
        Z: 0
      Plane: XY
      Plane Cell Count: 10
      Reference Frame: <Fixed Frame>
      Value: true
    - Alpha: 0.699999988079071
      Class: rviz_default_plugins/Map
      Color Scheme: map
      Draw Behind: false
      Enabled: true
      Name: Map
      Topic: /map
      Unreliable: false
      Use Timestamp: false
      Value: true
    - Alpha: 1
      Autocompute Intensity Bounds: true
      Autocompute Value Bounds:
        Max Value: 10
        Min Value: -10
        Value: true
      Axis: Z
      Channel Name: intensity
      Class: rviz_default_plugins/LaserScan
      Color: 255; 255; 255
      Color Transformer: Intensity
      Decay Time: 0
      Enabled: true
      Invert Rainbow: false
      Max Color: 255; 255; 255
      Max Intensity: 4096
      Min Color: 0; 0; 0
      Min Intensity: 0
      Name: LaserScan
      Position Transformer: XYZ
      Queue Size: 10
      Selectable: true
      Size (Pixels): 3
      Size (m): 0.009999999776482582
      Style: Flat Squares
      Topic: /scan
      Unreliable: false
      Use Fixed Frame: true
      Use rainbow: true
      Value: true
    - Alpha: 1
      Axes Length: 1
      Axes Radius: 0.10000000149011612
      Class: rviz_default_plugins/Pose
      Color: 255; 25; 0
      Enabled: true
      Head Length: 0.30000001192092896
      Head Radius: 0.10000000149011612
      Name: Pose
      Shaft Length: 1
      Shaft Radius: 0.05000000074505806
      Shape: Arrow
      Topic: /move_base_simple/goal
      Unreliable: false
      Value: true
    - Class: rviz_default_plugins/TF
      Enabled: true
      Frame Timeout: 15
      Frames:
        All Enabled: true
      Marker Scale: 1
      Name: TF
      Show Arrows: true
      Show Axes: true
      Show Names: false
      Tree:
        {}
      Update Interval: 0
      Value: true
    - Alpha: 1
      Class: rviz_default_plugins/RobotModel
      Collision Enabled: false
      Description File: ""
      Description Source: Topic
      Description Topic: ""
      Enabled: true
      Links:
        All Links Enabled: true
        Expand Joint Details: false
        Expand Link Details: false
        Expand Tree: false
        Link Tree Style: ""
      Name: RobotModel
      TF Prefix: ""
      Unreliable: false
      Update Interval: 0
      Value: true
      Visual Enabled: true
  Enabled: true
  Global Options:
    Background Color: 48; 48; 48
    Fixed Frame: world
    Frame Rate: 30
  Name: root
  Tools:
    - Class: rviz_default_plugins/MoveCamera
    - Class: rviz_default_plugins/Select
    - Class: rviz_default_plugins/FocusCamera
    - Class: rviz_default_plugins/Measure
      Line color: 128; 128; 0
    - Class: rviz_default_plugins/SetInitialPose
      Topic: /initialpose
    - Class: rviz_default_plugins/SetGoal
      Topic: /move_base_simple/goal
    - Class: rviz_default_plugins/PublishPoint
      Single click: true
      Topic: /clicked_point
  Transformation:
    Current:
      Class: rviz_default_plugins/TF
  Value: true
  Views:
    Current:
      Class: rviz_default_plugins/Orbit
      Distance: 8.303964614868164
      Enable Stereo Rendering:
        Stereo Eye Separation: 0.05999999865889549
        Stereo Focal Distance: 1
        Swap Stereo Eyes: false
        Value: false
      Focal Point:
        X: 0.5349314212799072
        Y: -1.8630497455596924
        Z: 0.5543326139450073
      Focal Shape Fixed Size: true
      Focal Shape Size: 0.05000000074505806
      Invert Z Axis: false
      Name: Current View
      Near Clip Distance: 0.009999999776482582
      Pitch: 0.7453981041908264
      Target Frame: <Fixed Frame>
      Value: Orbit (rviz)
      Yaw: 1.8422259092330933
    Saved: ~
Window Geometry:
  Displays:
    collapsed: false
  Height: 664
  Hide Left Dock: false
  Hide Right Dock: true
  QMainWindow State: 000000ff00000000fd0000000400000000000001560000023efc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000023e000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000023efc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d0000023e000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000002a40000023e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
  Selection:
    collapsed: false
  Tool Properties:
    collapsed: false
  Views:
    collapsed: true
  Width: 1024
  X: 0
  Y: 27

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第五部分：Gazebo案例

• ROS1

• ROS编程基础课程2019更新版资料和习题解答说明（ETH苏黎世联邦理工学院）适用indigo、kinetic和melodic

• ROS2

• Gazebo和ROS2的使用说明

ros2 topic pub /demo/cmd_demo geometry_msgs/Twist '{linear: {x: 0.2}}' -1

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第六部分：SLAM案例

• 理论基础1-6章

• 实践应用7-14章

高翔 等著, 视觉SLAM十四讲：从理论到实践（第2版）

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 ROS:~$ tree -L 3

.
├── Arduino
│   ├── course
│   │   ├── ADCdemo
│   │   ├── AnalogInOutLEDdemo
│   │   ├── AnalogInOutLEDtimedemo
│   │   ├── AnalogInputdemo
│   │   ├── Blinkdemo
│   │   ├── blinkmicrosdemo
│   │   ├── Buttondemo
│   │   ├── Controldemo
│   │   ├── Controlplusdemo
│   │   ├── Controlplusdemo2
│   │   ├── DHTtesterDemo
│   │   ├── dueControldemo
│   │   ├── HCSR04demo
│   │   ├── Knobdemo
│   │   ├── motordemo
│   │   ├── robotdemo
│   │   └── tonePitchFollowerdemo
│   └── libraries
│       ├── Adafruit_Circuit_Playground
│       ├── Adafruit_Unified_Sensor
│       ├── DHT_sensor_library
│       ├── readme.txt
│       ├── Rosserial_Arduino_Library
│       └── SD
├── Desktop
│   └── demo.rviz
├── Documents
│   ├── Arduino
│   │   ├── imutovel.py
│   │   ├── Integrating Arduino-Based Educational Mobile Robots in ROS.pdf
│   │   ├── LabLecture3 Hardware interfacing Arduino.pdf
│   │   ├── note191125.md
│   │   ├── Programming Your First Robot - EE100 Fall 2016.pdf
│   │   └── 机器人控制器编程-总结篇.pdf
│   └── Fritzing
│       ├── bins
│       └── parts
├── Downloads
│   ├── android_camera_imu.apk
│   ├── pinguybuilder_5.1-8_all.deb
│   ├── pycozmo-master.zip
│   └── slambook2-master.zip
├── Music
├── Pictures
│   ├── Screenshot from 2020-01-07 14-44-21.png
│   ├── Screenshot from 2020-01-07 14-51-44.png
│   ├── Screenshot from 2020-01-07 14-55-28.png
│   ├── Screenshot from 2020-01-07 14-56-49.png
│   ├── Screenshot from 2020-01-07 15-05-16.png
│   ├── Screenshot from 2020-01-07 15-18-33.png
│   ├── Screenshot from 2020-01-07 15-54-15.png
│   ├── Screenshot from 2020-01-07 15-57-50.png
│   ├── Screenshot from 2020-01-07 16-08-05.png
│   ├── Screenshot from 2020-01-07 16-26-15.png
│   └── Wallpapers
│       └── ubunturobot.png
├── Public
├── Roft
│   ├── arduino
│   │   └── arduino-1.8.10
│   ├── cozmo_ros2_ws
│   │   ├── build
│   │   ├── install
│   │   ├── log
│   │   └── src
│   ├── Micro-XRCE-DDS-Agent
│   │   ├── agent.refs
│   │   ├── build
│   │   ├── cmake
│   │   ├── CMakeLists.txt
│   │   ├── CTestJenkins.cmake
│   │   ├── Dockerfile
│   │   ├── docs
│   │   ├── include
│   │   ├── LICENSE
│   │   ├── microxrce_agent.cpp
│   │   ├── README.md
│   │   ├── src
│   │   ├── test
│   │   ├── thirdparty
│   │   ├── utils
│   │   └── valgrind.supp
│   ├── opencv-4.1.2
│   │   ├── 3rdparty
│   │   ├── apps
│   │   ├── build
│   │   ├── cmake
│   │   ├── CMakeLists.txt
│   │   ├── CONTRIBUTING.md
│   │   ├── data
│   │   ├── doc
│   │   ├── include
│   │   ├── LICENSE
│   │   ├── modules
│   │   ├── platforms
│   │   ├── README.md
│   │   └── samples
│   └── tello_ros2_ws
│       ├── build
│       ├── install
│       ├── log
│       └── src
├── SLAM
│   └── slambook2
│       ├── ch10
│       ├── ch11
│       ├── ch12
│       ├── ch13
│       ├── ch2
│       ├── ch3
│       ├── ch4
│       ├── ch5
│       ├── ch6
│       ├── ch7
│       ├── ch8
│       ├── ch9
│       ├── errata.cls
│       ├── errata.pdf
│       ├── errata.tex
│       ├── figures
│       ├── LICENSE
│       └── README.md
├── Templates
└── Videos

2020-01-07

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~Fin~

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