CaBot Navigation Packages

Package	Description
cabot	This package includes cabot basic functions
cabot_bt	cabot behavior trees (BT), BT plugins, and some utilities
cabot_description	robot URDF description
cabot_gazebo	robot launch files for gazebo environment, counter part of cabot package
cabot_mf_localization	launch file and script for launching multi floor localization using RF signals (WiFi/BLE) and cartographer
cabot_msgs	cabot message definition
cabot_navigation2	cabot core navigation logic using Nav2
cabot_sites	place cabot site packages
cabot_ui	user interface related code and i18n files
mf_localization	multi floor localization function.
mf_localization_gazebo	gazebo utility to test multi floor localization
mf_localization_mapping	mapping function for multi floor localization.
mf_localization_msgs	message difinitions for multi floor localization
mf_localization_rviz	rviz plugins for multi floor localization control (floor up/down, restart localization)
queue_msgs	msgs for queue packages
queue_people_py	publish queue message to control robot in queue
queue_utils_py	utilities for queue

Test

• Tests in thie repo is solely for navigation and localization not user interfaces such as buttons, vibration pattern, speech etc.
• Such UI test should be done in the cabot repository

Preparation

• run the script to download dependencies

./setup-dependency.sh
./setup-sample-site.sh

• run the script to build image and workspaces

./build-docker.sh -p -i -w              # run prebuild, image build, and workspace build
./build-docker.sh -p -i -w -d           # run prebuild, image build, and workspace debug build (symlink-install)

Run simulator and run test cases

• set .env file (example)

CABOT_MODEL=cabot2-gt1
CABOT_SITE=cabot_site_cmu_3d
RMW_IMPLEMENTATION=rmw_cyclonedds_cpp

• run simulator

./launch.sh -s                 # simulation, yes to launch a map server

• run test cases

./launch.sh -s -t              # simulation, yes to launch a map server, run test
./launch.sh -s -t -H           # simulation, yes to launch a map server, run test, headless

.env file

• Required settings

  CABOT_MODEL          # robot model (default=) to determine which launch/urdf to use
  CABOT_SITE           # package name for cabot site (default=)
  RMW_IMPLEMENTATION=rmw_cyclonedds_cpp   # need to use cyclone dds due to performance issue
  

• Optional settings

  CABOT_LANG           # cabot language (default=en)
  CABOT_OFFSET         # offset size (default=0.25)
  CABOT_FOOTPRINT_RADIUS # robot radius size (default=0.45)
  CABOT_INIT_SPEED     # specify maximum robot speed at startup, leave empty to restore the last speed
  CABOT_MAX_SPEED      # you can change max_speed only when CABOT_MODEL is cabot2-gtm (defalt=1.0)
  CABOT_USE_GNSS       # to use GNSS fix for localization (default=0)
  CABOT_ANNOUNCE_NO_TOUCH # announce when the reason robot is stopped is NO_TOUCH(default=false)
  CABOT_SIDE           # left: user stands on the right, right: user stands on the left
  CYCLONEDDS_NETWORK_INTERFACE_NAME # to specify network interface name for Cyclone DDS
  

• Options for debug/test

  CABOT_GAMEPAD              # (default=gamepad) gamepad type for remote controll (ex. PS4 controller)
                                               pro (Nintendo Switch Pro controller)
  CABOT_USE_HANDLE_SIMULATOR # to use handle simulator (default=0)
  CABOT_REMOTE_USE_KEYBOARD  # to use teleop twist keayboard in the remote control mode (default=false)
  CABOT_REMOTE_USE_IMU       # to use imu in the remote control mode (default=false)
  CABOT_SHOW_GAZEBO_CLIENT   # show gazebo client (default=0)
  CABOT_SHOW_ROS1_RVIZ       # show ROS1 rviz (default=0)
  CABOT_SHOW_ROS2_RVIZ       # show ROS2 rviz (default=1)
  CABOT_SHOW_ROS2_LOCAL_RVIZ # show ROS2 local navigation rviz (default=0)
  CABOT_SHOW_LOC_RVIZ        # show ROS1 localization rviz (default=1)
  CABOT_SHOW_PEOPLE_RVIZ     # show ROS1 people rviz (default=0)
  CABOT_SHOW_ROBOT_MONITOR   # show robot monitor (default=1)
  CABOT_RECORD_ROSBAG2       # record BT log, controller critics evalation into rosbag2 (default=1)
  CABOT_USE_ROBOT_TTS        # use TTS service '/speak_robot' to let PC speaker speak (default=0)
                             # this function is not used now, but maybe used in some scenario
  TEXT_TO_SPEECH_APIKEY      # IBM Cloud Text to Speech Service's API key and URL
  TEXT_TO_SPEECH_URL         # these two variables are required if CABOT_USE_ROBOT_TTS is 1
  

• Options for simulation

  CABOT_INITX          # initial robot position x for gazebo (default=0)
  CABOT_INITY          # initial robot position y for gazebo (default=0)
  CABOT_INITZ          # initial robot position z for gazebo (default=0)
  CABOT_INITA          # initial robot angle (degree) for gazebo (default=0)
  

• Others

  ## The following will be managed by docker-compose files
  ## be careful to set these variables in your .env file
  ##
  CABOT_GAZEBO             # 1: gazebo 0: real robot
  CABOT_TOUCH_ENABLED      # true: enabled - false: disabled
                             disabled for gazebo and enabled for real robot in docker-compose file
  CABOT_USE_REALSENSE      # to use realsense camera (default=0)
                             disabled for gazebo and enabled for real robot in docker-compose file
  CABOT_PRESSURE_AVAILABLE # to use pressure sensor (default=0)
                             disabled for gazebo and enabled for real robot in docker-compose file
  

• DDS related

  NET_CORE_BUFFER_SIZE_IN_MB   # default 64, small buffer size can cause data congestion and degrade performance especially velodyne_points and localization
  

License

MIT License

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The following files/folder are under Apache-2.0 License

• cabot_navigation/launch/cartographer_mapping.launch