Robobo-Remote-Control-ROS2

Robobo Remote Control Module ROS 2.

License	License Apache License 2.0
GroupId	GroupId com.mytechia
ArtifactId	ArtifactId robobo-remote-control-ros2
Last Version	Last Version 1.0.0
Release Date	Release Date Jul 23, 2019
Type	Type aar
Description	Description Robobo-Remote-Control-ROS2 Robobo Remote Control Module ROS 2.
Project URL	Project URL https://github.com/mintforpeople/robobo-remote-control-ros2
Source Code Management	Source Code Management https://github.com/mintforpeople/robobo-remote-control-ros2.git

Download robobo-remote-control-ros2

Filename	Size
robobo-remote-control-ros2-1.0.0.pom
robobo-remote-control-ros2-1.0.0.aar	22 MB
robobo-remote-control-ros2-1.0.0-sources.jar	60 KB
robobo-remote-control-ros2-1.0.0-javadoc.jar	195 KB
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How to add to project

Apache Maven

<!-- https://jarcasting.com/artifacts/com.mytechia/robobo-remote-control-ros2/ -->
<dependency>
    <groupId>com.mytechia</groupId>
    <artifactId>robobo-remote-control-ros2</artifactId>
    <version>1.0.0</version>
    <type>aar</type>
</dependency>

Gradle Groovy

// https://jarcasting.com/artifacts/com.mytechia/robobo-remote-control-ros2/
implementation 'com.mytechia:robobo-remote-control-ros2:1.0.0'

Gradle Kotlin

// https://jarcasting.com/artifacts/com.mytechia/robobo-remote-control-ros2/
implementation ("com.mytechia:robobo-remote-control-ros2:1.0.0")

Apache Buildr

'com.mytechia:robobo-remote-control-ros2:aar:1.0.0'

Apache Ivy

<dependency org="com.mytechia" name="robobo-remote-control-ros2" rev="1.0.0">
  <artifact name="robobo-remote-control-ros2" type="aar" />
</dependency>

Groovy Grape

@Grapes(
@Grab(group='com.mytechia', module='robobo-remote-control-ros2', version='1.0.0')
)

Scala SBT

libraryDependencies += "com.mytechia" % "robobo-remote-control-ros2" % "1.0.0"

Leiningen

[com.mytechia/robobo-remote-control-ros2 "1.0.0"]

Dependencies

compile (4)

Group / Artifact	Type	Version
com.mytechia : robobo-framework	jar	1.3.4
com.mytechia : robobo-remote-control	jar	1.0.2
com.android.support » appcompat-v7	jar	26.1.0
org.ros.android_core » android_10	jar	0.3.3

Project Modules

There are no modules declared in this project.

robobo-remote-control-ros2

A new repository has been generated with the source code corresponding to the new ros2-remote-control module for Android.

This module is composed by 3 directories:

services: Instantiate the services nodes for ROS2.
subscribers: Instantiate the subscribers nodes for ROS2.
topics: Instantiate the publishers nodes for ROS2.

The ROS2RemoteControlModule implements a remote control for ROS2. This module allows the connection of the Robobo robot to a ROS2 network, publishing its functionality through ROS2 services and topics.

To use the differents ROS2 nodes is not necessary to launch a ROS master. But is necessary to have a ROS Executor.

This module has the hability to provide its own ROS Executor running on the robot. To launch the differents nodes is necessary add the node to the ROS Executor. This functionality is provided by the StatusNode and the CommandNode.

To test and use the nodes there are multiple options:

Install ROS2

https://index.ros.org/doc/ros2/

Use the ros1_bridge

https://github.com/ros2/ros1_bridge

It could be a good approach run the bridge with the next option: ros2 run ros1_bridge dynamic_bridge --bridge-all-topics

Additionally, follow the next repository instructions are necessary to create the compatibility between robobo_msgs from ROS and ROS2: https://github.com/ros2/ros1_bridge/blob/master/doc/index.rst

Follow the next repository instructions that enables developers to write ROS2 applications for the JVM and Android.

https://github.com/esteve/ros2_java

In all the cases is necessary to create and generate a package with the required robobo_msgs for the communication: https://github.com/mintforpeople/robobo-ros2-msgs

To compile it (in the case 1 & 2):

colcon build --symlink-install --packages-select robobo_msgs
And in the case 3:

ament build --symlink-install --isolated --only-packages robobo_msgs

Some examples to test from ROS2... you have to run the next commands from terminal:

To test if the nodes are launched correctly:

ros2 node list
To view the topic list:

ros2 topic list
To test the subscribers nodes:
- MovePanTiltSub ros2 topic pub -1 /move_pan_tilt robobo_msgs/MovePanTiltTopic “{panpos: {data: ‘’}, panspeed: {data: ‘’} panunlockid: {data: ‘’} tiltpos: {data: ‘’} tiltspeed: {data: ‘’} tiltunlockid: {data: ‘’} }”
- MoveWheelsSub ros2 topic pub -1 /move_wheels robobo_msgs/MoveWheelsTopic “{lspeed: {data: ‘’}, rspeed: {data: ‘’}, time: {data: ‘’}, unlockid: {data: ‘’}}”
- PlaySoundSub ros2 topic pub -1 /play_sound robobo_msgs/PlaySoundTopic “{sound: {data: ‘’}}”
- ResetWheelsSub ros2 topic pub -1 /reset_wheels robobo_msgs/ResetWheelsTopic
- SetCameraSub ros2 topic pub -1 /set_camera robobo_msgs/SetCameraTopic “{camera: {data: ‘’}}”
- SetEmotionSub ros2 topic pub -1 /set_emotion robobo_msgs/SetEmotionTopic “{emotion: {data: ‘’}}”
- SetFrequencySub ros2 topic pub -1 /set_frequency robobo_msgs/SetSensorFrequencyTopic “{frequency: {data: ‘’}}”
- SetLedSub ros2 topic pub -1 /set_led robobo_msgs/SetLedTopic “{id: {data: ‘1’}, color: {data: ‘blue’} }”
- TalkSub ros2 topic pub -1 /talk robobo_msgs/TalkTopic “{text: {data: ‘hello’}}”
To test the services nodes:
- MovePanTiltService ros2 service call /move_pan_tilt robobo_msgs/MovePanTilt “{panpos: {data: ‘’}, panspeed: {data: ‘’} panunlockid: {data: ‘’} tiltpos: {data: ‘’} tiltspeed: {data: ‘’} tiltunlockid: {data: ‘’} }”
- MoveWheelsService ros2 service call /move_wheels robobo_msgs/MoveWheels “{lspeed: {data: ‘’}, rspeed: {data: ‘’}, time: {data: ‘’}, unlockid: {data: ‘’}}”
- PlaySoundService ros2 service call /play_sound robobo_msgs/PlaySound “{sound: {data: ‘’}}”
- ResetWheelsService ros2 service call /reset_wheels robobo_msgs/ResetWheels
- SetCameraService ros2 service call /set_camera robobo_msgs/SetCamera “{camera: {data: ‘’}}”
- SetEmotionService ros2 service call /set_emotion robobo_msgs/SetEmotion “{emotion: {data: ‘’}}”
- SetFrequencyService ros2 service call /set_frequency robobo_msgs/SetSensorFrequency “{frequency: {data: ‘’}}”
- SetLedService ros2 service call /set_led robobo_msgs/SetLed “{id: {data: ‘’}, color: {data: ‘’} }”
- TalkService ros2 service call /talk robobo_msgs/Talk “{text: {data: ‘hello’}}”
To test the publishers nodes:
- AccelerationStatusTopic ros2 topic echo /accel
- FlingStatusTopic ros2 topic echo /fling
- BaseBatteryStatusTopic ros2 topic echo /battery/base
- PhoneBatteryStatusTopic ros2 topic echo /battery/phone
- PanStatusTopic ros2 topic echo /pan
- TiltStatusTopic ros2 topic echo /tilt
- AmbientLightStatusTopic ros2 topic echo /ambientlight
- IRsStatusTopic ros2 topic echo /irs
- LedStatusTopic ros2 topic echo /leds
- OrientationStatusTopic ros2 topic echo /orientation
- StringStatusTopic ros2 topic echo /emotion
- TapStatusTopic ros2 topic echo /tap
- UnlockWheelsStatusTopic ros2 topic echo /unlock/move
- UnlockTalkStatusTopic ros2 topic echo /unlock/talk
- WheelsStatusTopic ros2 topic echo /wheels
- TagStatusTopic ros2 topic echo /tag
- DetectedObjectStatusTopic ros2 topic echo /detected_object

Acknowledgement

Supported by ROSIN - ROS-Industrial Quality-Assured Robot Software Components.
More information: rosin-project.eu

This project has received funding from the European Union’s Horizon 2020
research and innovation programme under grant agreement no. 732287.

Versions

Version
1.0.0 Jul 23, 2019

Robobo-Remote-Control-ROS2

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