Difference between revisions of "ROS2"

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==<font color='blue'>Status</font>==
 
==<font color='blue'>Status</font>==
 
Development
 
Development
 +
==<font color='blue'>News</font>==
 +
* [2019/01/03] Updated the cross-compiled version from '''ardent''' to '''bouncy'''. PC was already at '''bouncy''' because rclnodejs will work with '''bouncy''' only (not yet compatible with '''crystal''').
 +
Updated because ''bouncy'' would not 'see' ''ardent'' nodes & services and vice versa.
  
 
==<font color='blue'>Interfaces</font>==
 
==<font color='blue'>Interfaces</font>==
Line 32: Line 35:
 
===Installation===
 
===Installation===
 
* For Embedded Linux (but not Ubuntu Distro) use [https://github.com/bmwcarit/meta-ros.git meta-ros.git]. What about <font color='red'>[https://github.com/erlerobot/meta-ros2 meta-ros2]</font>?
 
* For Embedded Linux (but not Ubuntu Distro) use [https://github.com/bmwcarit/meta-ros.git meta-ros.git]. What about <font color='red'>[https://github.com/erlerobot/meta-ros2 meta-ros2]</font>?
−
<font color='green'>'''TODO:''' Include [https://github.com/bmwcarit/meta-ros.git meta-ros.git] in [https://git.elphel.com/Elphel/elphel393 elphel393] build system.</font>
+
<font color='green'><s>'''TODO:''' Include [https://github.com/bmwcarit/meta-ros.git meta-ros.git] in [https://git.elphel.com/Elphel/elphel393 elphel393] build system.</s></font>
 +
 
 +
<font color='green'>'''DONE:''' included a forked version [https://github.com/okdzhimiev/meta-ros/ okdzhimiev/meta-ros]</font>
 +
 
 
====Include meta-ros to elphel393====
 
====Include meta-ros to elphel393====
 
* Add path to bblayers.conf
 
* Add path to bblayers.conf
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* Google and follow the [https://index.ros.org/doc/ros2/ general instructions].
 
* Google and follow the [https://index.ros.org/doc/ros2/ general instructions].
  
−
==='''Notes:'''===
+
===Notes===
−
* '''apt install ros-bouncy-desktop''' available in 18.04, <font color='red'>n/a in 16.04</font>
+
* Switched to installing from a ''fat'' archive
−
* '''apt install ros-ardent-desktop''' available in 16.04
 
−
* ROS2 will get installed to '''/opt/ros/<name>''', <name> are ardent, bouncy, etc.
 
 
* Terminal setup:
 
* Terminal setup:
−
  <font size='2'>''source /opt/ros/bouncy/setup.bash''
+
  <font size='2'>''source /path/setup.bash''</font>
−
or
 
−
''source /opt/ros/bouncy/local_setup.bash''</font>
 
  
 
===Workflow===
 
===Workflow===
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* Install [https://colcon.readthedocs.io/en/released/user/quick-start.html colcon]
 
* Install [https://colcon.readthedocs.io/en/released/user/quick-start.html colcon]
 
* Then build with colcon
 
* Then build with colcon
−
* Packages will not get installed to /opt/ros/bouncy/... Instead they will stay in their folders.
+
* New packages will not get installed anywhere. They live in their folders.
 
* To use a package:
 
* To use a package:
−
  source /opt/ros/bouncy/setup.bash
+
  <font size='2'>source ~/ros2_ws/some-package/install/setup.bash
−
source ~/ros2_ws/some-package/install/local_setup.bash
 
 
  ros2 pkg list
 
  ros2 pkg list
−
  then run anything in this terminal
+
  then run anything in this terminal</font>
 
* Python scripts can live anywhere - just run them from that sourced terminal
 
* Python scripts can live anywhere - just run them from that sourced terminal
 +
 +
==<font color='blue'>ROS2 in Docker</font>==
 +
docker pull osrf/ros2:bouncy-desktop
 +
docker run -i -t osrf/ros2:bouncy-desktop
 +
No network, no colcon, no ament...
  
 
==<font color='blue'>ROS2 General Notes</font>==
 
==<font color='blue'>ROS2 General Notes</font>==
 
===Notes===
 
===Notes===
 
* SROS is Secure ROS or something
 
* SROS is Secure ROS or something
 +
 
===Useful links===
 
===Useful links===
−
* [http://docs.erlerobotics.com/robot_operating_system/ros2/tutorials/tutorial_10 Tutorials ErleRobotics]
+
 
−
* [https://github.com/intel/ros2_intel_realsense Intel RealSense]
+
* [http://docs.erlerobotics.com/robot_operating_system/ros2 ErleRobotics Tutorials on ROS2] - very useful
−
* [https://index.ros.org/doc/ros2/Ament-Tutorial/ Ament tutorial] - will not work for PC because it's outdated, will work in Yocto
+
 
−
* [https://index.ros.org/doc/ros2/Colcon-Tutorial/ Colcon tutorial] - this one worked for PC
+
* [https://index.ros.org/doc/ros2/Ament-Tutorial/ Ament tutorial] - build system for new packages
−
* [https://discourse.ros.org/t/suggestions-for-std-srvs/1079/16 STD-SRVS '''discussion'''] & [https://github.com/ros2/examples/issues/4 ROS2 examples(?)]
+
** works and supported in meta-ros
−
* [https://discourse.ros.org/search?q=meta-ros%20order%3Alatest About meta-ros]
+
** will not work for PC because repo hashes moved on?
 +
 
 +
* [https://index.ros.org/doc/ros2/Colcon-Tutorial/ Colcon tutorial] - newest build system for new packages
 +
** works for PC, even in 16.04
 +
** not supported in meta-ros (as of 2018/12/07)
 +
** [https://colcon.readthedocs.io/en/released/user/how-to.html#build-only-a-single-package-or-selected-packages colcon docs]
 +
 
 +
* [https://discourse.ros.org/search?q=meta-ros%20order%3Alatest About meta-ros] and [https://discourse.ros.org/search?q=meta-ros2%20order%3Alatest about meta-ros2] - are they merged?
 +
 
 +
Networking:
 +
 
 
* [http://design.ros2.org/articles/ros_on_dds.html ROS on DDS]
 
* [http://design.ros2.org/articles/ros_on_dds.html ROS on DDS]
 
  <font size='2'>...  
 
  <font size='2'>...  
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* [http://www.eprosima.com/index.php/resources-all/performance/40-eprosima-fast-rtps-performance FastRTPS benchmarks]
 
* [http://www.eprosima.com/index.php/resources-all/performance/40-eprosima-fast-rtps-performance FastRTPS benchmarks]
 
* [http://docs.eprosima.com/en/latest/advanced.html FastRTPS max message size]
 
* [http://docs.eprosima.com/en/latest/advanced.html FastRTPS max message size]
−
* [https://wiki.ros.org/Services Request-Response is done with '''service''']. Format [https://wiki.ros.org/srv srv]
 
 
* [https://erlerobotics.gitbooks.io/erle-robotics-python-gitbook-free/udp_and_tcp/a_simple_tcp_client_and_server.html Good book about UDP?]
 
* [https://erlerobotics.gitbooks.io/erle-robotics-python-gitbook-free/udp_and_tcp/a_simple_tcp_client_and_server.html Good book about UDP?]
  
−
===Docker===
+
ROS2 Services:
−
docker pull osrf/ros2:bouncy-desktop
+
 
−
docker run -i -t osrf/ros2:bouncy-desktop
+
* [https://wiki.ros.org/Services Request-Response is done with '''service''']. Format [https://wiki.ros.org/srv srv]
−
...no network, no colcon, no ament...
+
* [https://discourse.ros.org/t/suggestions-for-std-srvs/1079/16 STD-SRVS '''discussion'''] & [https://github.com/ros2/examples/issues/4 ROS2 examples(?)]
  
 +
===Reference ROS repos===
 +
* [https://github.com/inertialsense/inertial_sense_ros.git inertial_sense_ros.git] - cpp
 +
* [https://github.com/intel/ros2_intel_realsense.git ros2_intel_realsense.git] - cpp
 +
* [https://github.com/ros-drivers/axis_camera.git axis_camera.git] - python
 +
* [https://github.com/bmwcarit/meta-ros.git meta-ros.git] - layer for Yocto
  
 
==<font color='blue'>ROS1</font>==
 
==<font color='blue'>ROS1</font>==
 
<font color='red'>'''Won't build'''</font>. [[ROS1|More info]].
 
<font color='red'>'''Won't build'''</font>. [[ROS1|More info]].

Latest revision as of 15:00, 3 January 2019

About

Use ROS2 in Elphel single or multi-camera systems. The cameras are 10393 system boards based on Xilinx Zynq, ARM.

Goals

Notes:

  • Controlling and initializing of multi-camera systems is already implemented using PHP API (autocampars.php), Python and lighttpd.
  • Using ROS2 is intended to simplify/standardize the above.
  • Using ROS2 is intended to make cameras compatible with other hardware supported by ROS1/2.

Having ROS2 cross-compiled and installed on each camera:

  • Initialize cameras in a pre-defined multi-camera system - sync and sequence critical init
  • Control multiple cameras from any camera of the system - parameters, recording
  • Control multiple cameras from a PC (with ROS2 for PC installed).
  • Control multiple cameras from a network device (w/o ROS2 installed, but with a browser) - by accessing a web server running on a camera interfaced with ROS2 of the camera. Can use nodejs or just lighttpd+php.

Status

Development

News

  • [2019/01/03] Updated the cross-compiled version from ardent to bouncy. PC was already at bouncy because rclnodejs will work with bouncy only (not yet compatible with crystal).

Updated because bouncy would not 'see' ardent nodes & services and vice versa.

Interfaces

ROS2 nodes communicate over:

  • 1 GigE LAN or (possibly) wifi (camera1-camera2..N, pc-camera1..N, pc1-pc2..M)
  • within a single device

Notes:

  • image sensors, IMS (or GPS & IMU), any other sensors are attached to cameras via a custom interface or USB, with appropriate driver support.
  • normally cameras in the system are synced with a custom trigger cable - this is setup over network
  • any device attached to PC?

ROS2 on Zynq

Installation

TODO: Include meta-ros.git in elphel393 build system.

DONE: included a forked version okdzhimiev/meta-ros

Include meta-ros to elphel393

  • Add path to bblayers.conf
  • Add to "IMAGE_INSTALL_append" of core-image-elphel393.bb:
packagegroup-ros2-world \

Notes

  • Cross-compilation for ARM
  • ROS2 for python populates /usr/lib/python3.5/site-packages/ so python scripts can live anywhere.
  • For command line apps, like ros2 ..., if AMENT_PREFIX_PATH is not set then:
OSError: Environment variable 'AMENT_PREFIX_PATH' is not set or empty
  • Useful commands (command line):
export AMENT_PREFIX_PATH=/usr

ros2 pkg list
ros2 node list
ros2 srv list
ros2 srv show std_srvs/Trigger
ros2 msg list
ros2 msg show std_msgs/String

Demos

talker-listener cpp

# terminal 1:
export AMENT_PREFIX_PATH=/usr
ros2 run demo_nodes_cpp talker

# terminal 2:
export AMENT_PREFIX_PATH=/usr
ros2 run demo_nodes_cpp listener

Workflow

  • Use example recipes from meta-ros.git
  • bitbake package-name, check output and logs in the poky build tree
  • List package in core-image-elphel393.bb's IMAGE_INSTALL_append

TODO:

  • Add target-scp and an example empty recipe

ROS2 on PC

Installation

Notes

  • Switched to installing from a fat archive
  • Terminal setup:
source /path/setup.bash

Workflow

  • Create a workspace
  • Create some packages inside or clone - they have a vcs tool to clone all repos from a text file.
  • Install colcon
  • Then build with colcon
  • New packages will not get installed anywhere. They live in their folders.
  • To use a package:
source ~/ros2_ws/some-package/install/setup.bash
ros2 pkg list
then run anything in this terminal
  • Python scripts can live anywhere - just run them from that sourced terminal

ROS2 in Docker

docker pull osrf/ros2:bouncy-desktop
docker run -i -t osrf/ros2:bouncy-desktop 
No network, no colcon, no ament...

ROS2 General Notes

Notes

  • SROS is Secure ROS or something

Useful links

  • Ament tutorial - build system for new packages
    • works and supported in meta-ros
    • will not work for PC because repo hashes moved on?
  • Colcon tutorial - newest build system for new packages
    • works for PC, even in 16.04
    • not supported in meta-ros (as of 2018/12/07)
    • colcon docs

Networking: 

... 
if you are concerned about latency, like for soft real-time, you can basically tune DDS to be just a UDP blaster. In another scenario you might need something that behaves like TCP, but needs to be more 
tolerant to long dropouts, and with DDS all of these things can be controlled by changing the QoS parameters.
...

ROS2 Services:

Reference ROS repos

ROS1

Won't build. More info.

Retrieved from "https://wiki.elphel.com/index.php?title=ROS2&oldid=16535"