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Install and use homer_navigation package (On Server)

Note

Setting up this package on the server computer is highly recommended for a fluent experience of SLAM and navigation. Setting it up on the RPi should be OK, but the Pi will be struggling.

Install homer_navigation Package

mkdir -p ~/homer_ws/src  # create a workspace
cd ~/homer_ws/src  # navigate into src/ under the workspace
git clone https://github.com/linzhanguca/homer_navigation.git  # download package
cd ~/homer_ws  # navigate to workspace root
colcon build  # build all packages in workspace
echo "source ~/homer_ws/install/local_setup.bash" >> ~/.bashrc  # register package related resources
source ~/.bashrc

Create a Map

  1. Set HomeR at a good starting location on the ground.

  2. Open a terminal on RPi, launch homer_interface and related resources 

    ros2 launch homer_bringup homer.launch.py

  3. Open a terminal on Server, launch slam_toolbox under the "mapping" mode. 

    ros2 launch homer_navigation create_map.launch.py

    A Rviz window will be popped out.

  4. Open a terminal either on Server or RPi, start teleop_twist_keyboard to drive the robot around and create the map simultaneously. 

    ros2 run teleop_twist_keyboard teleop_twist_keyboard

Save the Map

  1. In Rviz, go to "SlamToolboxPlugin" panel, and locate the "Serialize Map" button.

  2. Type the absolute path for the map which is intended to be saved in the box next to the "Serialize Map" button.

    Info

    Use absolute path. For example, /tmp/test_map. The shortcut, ~/, for the home directory will not work. You will need to explicitly express the home directory, for example: /home/<username>/<follow_up_paths>.

  3. Click "Serialize Map" button, then verify if map files are saved successfully.

    Success

    Two files will be saved at the location specified in the "SlamToolboxPlugin". One is <map_name>.data, and the other one is <map_name>.posegraph

  1. Open localization configuration file $HOME/homer_ws/src/homer_navigation/configs/localization_params.yaml, and edit map_file_name around line 18. Use the map name you've saved in the previous steps, for example: 

      map_file_name: /tmp/test_map
    Rebuild the navigation package with the specified map files. 
    cd ~/homer_ws/
colcon build
source install/local_setup.bash

  2. On RPi, launch homer_interface and rplidar_composition 

    ros2 launch homer_bringup homer.launch.py

  3. On Server, launch slam_toolbox under the "localization" mode and a collection of nav2 nodes. 

    ros2 launch homer_navigation navigation.launch.py

  4. (Optional) If the lidar scan and the map are misaligned, use "2D Pose Estimate" button on the top of the Rviz to set initial pose for HomeR.

  5. In Rviz, use "2D Goal Pose" button to set desired ending pose for HomeR.