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Notes to use map and localization with Jackal

Communicating with the Jackal

  1. SSH into the jackal

    • Jackal5: ssh administrator@199.168.1.25
    • Jackal7 (ASL): ssh administrator@199.168.1.27
    • Jackal7(ATT-WIFI-h4cp): ssh administrator@192.168.1.57
    • Jackal5(ATT-WIFI-h4cp): ssh administrator@192.168.1.44
    • Jackal3(ATT-WIFI-h4cp): ssh administrator@192.168.1.61
    • ATT Wifi pass: SkyNet2! SSH Password: clearpath (or check confluence)

  2. Setup an external machine (If you want to send commands or communicate with jackal remotely. Not necessary for mapping)

    • Create a file named remote-jackal.sh
    • In the file add the following lines
    export ROS_MASTER_URI=http://jackal5:11311  # Jackal's hostname
export ROS_IP=199.168.1.170               # Your laptop's wireless IP
    • Get external machine IP with hostname - I
    • Source the newly created file with source remote-jackal.sh
    • Check if you can echo topics. If not you may have to match the host with the ip
      • To add run sudo nano /etc/hosts
      • Add jackal IP to list of hosts 199.168.1.25 jackal5

Mapping

  1. Launch the velodyne

    • Terminal 1: roslaunch velodyne_pointcloud VLP16_points.launch

  2. To map

    • Terminal 2: roslaunch jackal_navigation gmapping_demo.launch scan_topic:=/scan
    • Drive around slowly and map the area
    • Terminal 3: rosrun map_server map_saver -f labmap
      • labmap is the name of the map file and yaml that will be created in whatever directory you are in
    • To view the map in progress: rosshow /map WARNING: rosshow sometimes kills the wifi connection

  3. To save the map on the external machine run two commands:

    scp administrator@192.168.1.44:/home/administrator/rhodes.pgm rhodes.pgm
scp administrator@199.168.1.25:/home/administrator/labmap.yaml labmap.yaml
administrator@192.168.1.57:/home/administrator/nri_workspace/src/safety_switch.py safety_switch.py
    • To view on the external machine run: roslaunch jackal_viz view_robot.launch config:=gmapping
      • This is working for me but its not really needed
    • View map on matlab (if graphics problem: matlab -softwareopengl) Here you can make a line segment map and choose waypoints.

  4. Tips for mapping:

    • Jackal5 will sometimes turn off after a random time. Maybe 20-30 minutes. Not sure why
    • Be careful of loop closures. Play with the parameters to get something that looks good
    • People passing by seems to be ok. I would try and constantly move and stay further than the clipping range (5m by default)

  5. Places where the map is hardcoded and should change after remapping

    • Localization run command (see below)
    • Specification uses the walls, waypoints in runEvBasedSTL.py
    • Human pose projection in cleaner.py

Localization

  1. Drive to the origin of your map. Reboot.
  2. Launch the velodyne
    • Terminal 1: roslaunch velodyne_pointcloud VLP16_points.launch
  3. To map
    • Terminal 2: roslaunch jackal_navigation amcl_demo.launch map_file:=/home/administrator/rhd3_withoutbox_map6.yaml scan_topic:=/scan
    • For Upson 5th floor, use full_corridor_first_pass. Issue: The origin for this map is inside of the room, but we want to start in the hallway.
    • For Rhodes 3rd floor, use rhodesFinal. David says this one is not great, so we should remap.
    • For Rhodes 3rd floor with added boxes, use rhodes_3rd_boxes. David says this one is not great, so we should remap.
    • Note: It seems possible to start from not the origin, but the default initial pose is (0,0) 0 yaw
  4. To see pose estimate,
    • Terminal 3 (amcl global estimate): rosrun tf tf_echo map base_link
    • Terminal 4 (jackal dead reckoning): rosrun tf tf_echo odom base_link
  5. Topics to record with rosbag record:
/tf
/tf_static
/scan
/odometry/filtered
/jackal_velocity_controller/cmd_vel

Running the MK UWB Tracker

  1. Navigate to the PC Shell folder and run the tracking script
    • cd ~/mk_uwb/Kit\ SR150_040\ Ext\ pack\ -\ USB\ v3.6/Software/MK\ UWB\ PC\ Shell/MK\ UWB\ PC\ Shell\ v1.1.0/
    • python3 track_next_device_ros.py /dev/ttyUSB0
  2. Relevant lines of code if you want to modify things
    • Topic name: pc_shell/device_tracker_ros.py, end of the constructor. Topic name is currently /uwb/relative_tag_location
    • Pose computation: pc_shell/device_tracker_ros.py, in method rng_aoa_to_tf_stamp. Currently puts the distance as x coordinate, 0 as y coordinate Code is in this private repo=. Contact amv78@cornell.edu for access.

Running the Human Tracking Visualize: rviz -d ~/Documents/nir_project/humandetect.rviz

Running the Zed camera ROS node

  1. SSh in and, in separate terminals, run

    roslaunch zed_wrapper zed.launch
    rosshow /zed/zed_node/left/image_rect_color

  2. For an example ROS node that listens to an image and outputs a string, in separate terminals run

    python3 ~/touch_sense/image_republisher.py
    rostopic echo /zed_img_shape

Running the Specification

  1. Find the asl-laptop-1 and login
    • Username: David
    • Pass: ASLAdmin!
  2. Run the localization on the robot (see above)
  3. The code for running specifications is in the this repo: https://github.com/davidgundana/Event-based-STL.git
  4. In a new terminal on the local machine, setup the environment and connect to Jackal5 
    export ROS_MASTER_URI=http://192.168.1.44:11311
conda activate nri
source ~/Documents/nir_project/masterOnJackel.bash
  5. In the same terminal run the specification 
    cd ~/catkin_ws/src/Event-based-STL/FinalPackage
python3 runEvBasedSTL.py