Platypus Lutra Documentation

Transcription

1 Platypus Lutra Documentation Release 1.0 RDML April 25, 2016

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3 User Documentation 1 Setup and launch of the sami-crw software Installing the Software Starting the boat Launching the Sami-Crw software and Connecting the Boat Updating the Boat Firmware Sensors on the Platypus Lutra 7 3 Implementation of ROS Java on the Sami-Crw Software Installing ROSJava Importing Packages into Netbeans Test the ROSJava coupled Sami-crw software Python Code i

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5 This page contains documentation for the Platypus Lutra vehicle at the Robot Decision Making Laboratory at Oregon State. The vehicle has been apated slightly from tha manufacturer, primarily in software to provide a ROS interface for planning algorithms. We currently have access to boat position, waypoint status and sensor (temperature and sonar depth) measurements as well as being able to command waypoints through the ROS interface. The Platypus Lutra is a low-cost platform developed by Sense Platypus. More information about the manufacturer can be found here: The main documentation for the site is organized into the following sections: User Documentation 1

6 2 User Documentation

7 CHAPTER 1 Setup and launch of the sami-crw software 1.1 Installing the Software 1. Download sami-core and sami-dreaam from the github repositories $ git clone $ git clone $ git clone 2. Install the latest version of Netbeans and Java 1.8. You can get Netbeans and Java as a bundle from Oracle (this will ensure automatically you will be running the 1.8 JDK with Netbeans): 3. Add all three projects to Netbeans NOTE: You will need to copy and rename the nbproject-template folder in each the sami-core, sami-dreaam, and sami-crw folders to get these to work as projects in Netbeans. Copy the nbproject-template folder into each of these files home directories and rename it nbproject 4. Make sure that Netbeans is using Java 1.8. The sami-dreaam project will not compile with an earlier version of the JDK! 5. To be safe build the sami-core project first Then build the sami-dreaam project then the sami-crw (sami-crw is dependent upon the other two projects) 6. Run the sami-crw from Netbeans to launch the application Make sure the run setup is as follows: Main class: sami.ui.missionmonitor VM options: -Djava.util.logging.config.file= logging.properties -Djava.library.path=lib/input Note: To change the run setup of the program in Netbeans, select the sami-crw project on the main projects window, right click and select Properties. This will open a new dialogue box. On the menu in this box, select Run. Use the above parameters to configure the run setup. 1.2 Starting the boat First make sure you have successfully turned on the boat, connected the phone, and are able to get GPS, following the procedure for boat startup: 1. Plug in the battery, minimum voltage is 9V 3

8 2. Press the white button, the some lights should turn on and the board will beep a couple of times 3. Ensure phone is connected to correct wifi network, then start OSU Lutra app 4. Click off which turns it on 5. Note phone UDP: :11411 (this IP corresponds to the robotics network, the IP will vary depending upon the shared network) 6. Test thrust with debug button and thrust slider 7. Test GPS lock by operating Google Maps 8. Close up electronics Bay get ready for deployment 1.3 Launching the Sami-Crw software and Connecting the Boat Note: When running the software from Netbeans for the first time, you will be prompted to select a.drm file. By default this.drm file is located in the sami-crw/plans folder. Navigate to this folder and select the.drm file. Note: Again when running the software for the first time if the OperatorInteractionFrame does not load initially, in the Mission Monitor window, select Load Domain. You will be prompted to select a.dcf file. Navigate to sami-crw/config and select the current version s crw.dcf file. Once the software is launched from Netbeans, you should see 8 frames open. You can use the FrameManager to save the desired placement of these frames. The 8 frames are: OperatorInteractionFrame, MapFrame, AllocationFrame, CommFrame, Mission Monitor, Message Frame, InterruptFrame. On the Mission Monitor Frame there are a list of actions to perform. Scroll to find the ConnectBoat. Select ConnectBoat and hit the Run button. Now the OperatorInteractionFrame should update to display three options: server, color, name. Fill in the server form box with the UDP from the phone. This is found in the Nexus app and is the smaller IP text, with at the end. Include the full UDP address! Also, give it a name, as it is easier to recognize later in the CommFrame. I have been naming my boats, intuitively, boat. When finished, hit the Done button in the OperatorInteractionFrame. Now the Message Frame should display that the boat is connected and the CommFrame should also update to a green box with the word boat inside (or whatever word you chose to name the boat) Double click on name (ie boat ) in the CommFrame to get the Teleop Path, Point buttons activated on the map. Select the Teleop button. A menu option should now display in the Map Frame with a options for gains on the right side and a red graphic on the left. The red dot controls the motors. Dragging it up will thrust both motors. Dragging it left or right will activate the right and left motors respectively (as seen from the stern), acting as a rudder. 4 Chapter 1. Setup and launch of the sami-crw software

9 1.4 Updating the Boat Firmware The following guide from the manufacturer is the process for restoring or updating the boat firmware: See this guide Updating the Boat Firmware 5

10 6 Chapter 1. Setup and launch of the sami-crw software

11 CHAPTER 2 Sensors on the Platypus Lutra The sensors on-board the Lutra vehicle interface via a (Platypus) custom shield over an Arduino Due. There are three physical sensor ports on the board marked S0-S3 connected with 8-pin Switchcraft Mini-ConX connectors (of use: page 12, and we use part number SG-318 though the S for socket can be P for pin, and the last three digits refer to the backshell type). Note that there are four physical ports, but only three available sensor ports because S0 only supplies power. The sensors must interface to the ports using either RS232 or RS422(485) serial communications. To select the correct serial protocol you must set some flags in the Arduino firmware: PWR_ENABLE - HIGH to enable 12V output RX_DISABLE - HIGH to disable serial receiver TX_ENABLE - HIGH to enable serial transmit RS_485TE - HIGH to enable RS485 termination resitor (HIGH for HDS) RS485_232 - HIGH for RS232, LOW for RS485 The Arduino software will format messages in a particular way and send them (as text) to the Android server. Some sample strings from the Arduino: -> {"s2":{"type":"atlas","data":"10.67"}} -> {"s1":{"type":"es2","data":" "}} -> {"s3":{"type":"hds5","nmea":"$sddbt,,,,,,*45"}} -> {"s3":{"type":"hds5","nmea":"$sddpt,,0.0,*55"}} -> {"s3":{"type":"hds5","nmea":"$sdmtw,17.7,c*05"}} Note that the sensor number is the first item, then type string then data. 7

12 8 Chapter 2. Sensors on the Platypus Lutra

13 CHAPTER 3 Implementation of ROS Java on the Sami-Crw Software First ensure you are running the Java JDK 8 on Netbeans. The following instructions are assuming the original software package (from: ) is successfully installed and compiled on Netbeans (per the installation tutorial). You will want to create a new directory for the ROSJava project. Copy into it the sami-core and sami-dreaam folders from the original. (from: Now you must add the updated sami-crw code to the same directory where you saved the sami-core and sami-dreaam files. This code can be found on If you have git installed on your machine you can do this with the command: $ git clone The next step is to import into Netbeans as a new project the revised code with the ROSJava functionality added to it. As with the original software, you will need to update the run properties of the sami-crw to the following: The main class: sami.ui.missionmonitor The VM options: -Djava.util.logging.config.file= logging.properties -Djava.library.path=lib/input NOTE: To change the run setup of the program in Netbeans, select the sami-crw project on the main projects window, right click and select Properties. This will open a new dialogue box. On the menu in this box, select Run. Use the above parameters to configure the run setup. 3.1 Installing ROSJava Install ROSJava onto the host computer. The lab currently uses ROS Indigo on Ubuntu If you do not have ROS, you must first install it in order to get ROSJava. See: for the ROS installation instructions. Once you have ROS installed, or have checked that it was installed previously and you are running Indigo, you may now install ROSJava. See: for instructions for installing ROSJava. Select the Source install option, as this will later allow you to import ROSJava packages into Netbeans. 3.2 Importing Packages into Netbeans In Netbeans, in the sami-crw folder (and possibly the sami-core if it has unmet dependencies and won t build) in the Project tab, select Libraries. Right click on Libraries and select ADD JAR/Folder... This will open to a 9

14 new screen where you can select which JAR files to import to Netbeans. Navigate to the folder where you have stored all ROSJava files. The folder which will contain the necessary JAR files for the standard ROSJava edition is: /rosjava/src/rocon_rosjava_core/master_info/build/install/master_info/lib Import all the JAR files in this folder: actionlib_msgs jar apache_xmlrpc_client jar apache_xmlrpc_common jar apache_xmlrpc_server jar commons-pool-1.6.jar com.springsource.org.apache.commons.codec jar com.springsource.org.apache.commons.httpclient jar com.springsource.org.apache.commons.io jar com.springsource.org.apache.commons.lang jar com.springsource.org.apache.commons.logging jar com.springsource.org.apache.commons.net jar dnsjava jar geometry_msgs jar gradle_plugins jar guava-12.0.jar jsr jar junit jar master_info jar message_generation jar nav_msgs jar netty final.jar rocon_service_pair_msgs jar rocon_std_msgs jar rosgraph_msgs jar rosjava jar rosjava_test_msgs jar rosjava_utils jar std_msgs jar tf2_msgs jar uuid_msgs jar ws-commons-util jar xml-apis-1.0.b2.jar 10 Chapter 3. Implementation of ROS Java on the Sami-Crw Software

15 Our code utilizes a message package, which does not come automatically with the standard ROSJava installation. You must retrieve this package in order to get the geography messages JAR into Netbeans. First to get the package, in a new terminal window, run: $ sudo apt-get install ros-indigo-geographic-info Then you need to generate the rosjava versions of those messages. You need genjava: $ sudo apt-get install ros-indigo-genjava To publish a waypoint you need to first load the messages by sourcing the java setup bash: $ source ~/rosjava/devel/setup.bash Then navigate to rosjava folder (wherever it is on your computer): $ cd ~/rosjava $ genjava_message_artifacts --verbose That should make a bunch of messages. To import the geography messages JAR into Netbeans, following the same method as before, in the sami-crw folder in the Project tab, select Libraries. Right click on Libraries and select ADD JAR/Folder... This will open to a new screen where you can select which JAR files to import to Netbeans. Then navigate to the following: /rosjava/build/geographic_msgs/build/libs Import the following JAR file: geographic_msgs jar Repeat the process for the sensor messages jar (in /rosjava/build/sensor_msgs/build/libs): sensor_msgs jar 3.3 Test the ROSJava coupled Sami-crw software To test the functionality of the code, run the application in Netbeans. MAKE SURE THAT A ROSCORE IS RUN- NING IN A TERMINAL WINDOW. (To run a roscore, simply open a new terminal window and type roscore at the command line.) Once the application has launched and you have the roscore running in the terminal, in the Mission Monitor, select the Add Simulated Boat plan and hit the Run button. Add a SINGLE simulated boat at any point on the map of Waverly Lake. NOTE: You must make sure to change the Number of boats field to 1 from the default of 3. First check that the Publisher and Subscriber node have been declared and instantiated. To do this, open a new tab in terminal and run: rostopic list You should see the following: /crw_waypoint_sub /crw_geopose_pub /crw_waypoint_reached /clear_waypoints /crw_sonar_pub /crw_temp_pub /rosout /rousout_agg Then try in a terminal window: $ rostopic pub -1 /crw_waypoint_sub geographic_msgs/geopose '{position: {latitude: , longitude: , altitude: 0.0}, orientation: {x: 0.0, y: 0.0, z: 0.0, w: 1.0}}' This should publish 1 message of type GeoPose to the /crw_waypoint_sub topic. To clear this waypoint, type the following: $ rostopic pub -1 /clear_waypoints std_msgs/string clear 3.3. Test the ROSJava coupled Sami-crw software 11

16 This will publish 1 message of type String to the /clear_waypoints topic. It will stop the boat on its course to the current waypoint. 3.4 Python Code There is some simple python code demonstrating use of the ROS messages available by cloning: $ git clone The simplest example code is in scripts/box_waypoints.py. This code just runs a loop that allows a user to send the robot a set of four waypoints forming 20m box from its current position, or cancel the current waypoint or all waypoints. The sonar_plot.py code uses data from the sonar to create ROS marker messages to plot sonar returns so that you can use RVIZ to visualise the robot and sonar. 12 Chapter 3. Implementation of ROS Java on the Sami-Crw Software