ROS

Flow

Drawio

Rqt_graph

• Receiver

  • Input: NA
  • Output: /Imu0/Raw, /Imu0/Mag, /Imu1/Raw, /Imu1/Mag, /Imu2/Raw, /Imu2/Mag

• Filter

  • Input: /Imu0/Raw, /Imu0/Mag, /Imu1/Raw, /Imu1/Mag, /Imu2/Raw, /Imu2/Mag
  • Output: /Imu0, /Imu1, /Imu2

• Dtf_calculator

  • Input: /Imu0/Raw, /Imu1/Raw, /Imu2/Raw
  • Output: /tf

• Detector

  • Input: /Imu0/Raw, /Imu1/Raw, /Imu2/Raw, /tf
  • Output: /Command

• Commander

  • Input: /Command
  • Output: NA

• Labeler

  • Input: /Imu0, /Imu1, /Imu2, /tf
  • Output: /User_Label

CLI

Install Environment

sudo bash setup.sh

Setup Environment

# global config, for ros system cli, such as "ros", "rviz2", "rqt"
source /opt/ros/foxy/setup.sh 

# workspace config, for our own-made packages, such as "receiver", "filter"
cd ~/FYP-Glove
source install/setup.bash

please do source install/setup.bash before running any own-made package

Create a package

# for c++ package
ros2 pkg create --build-type ament_cmake [package]

# for python package
ros2 pkg create --build-type ament_python [package]

More about creating and configuring the package:

1. Write your python code under [package]/[package]/[package.py]

2. Add an entry point to setup.py so that ros2 can locate its position

   entry_points={
       'console_scripts': [
           '[node_name] = [package].[script]:main',
       ],
   }

   Create a Python package: Writing a simple publisher and subscriber (Python) - ROS 2 Documentation: Foxy documentation

   Entry Point For Python: Developing a ROS 2 package - ROS 2 Documentation: Foxy documentation

Compile

# build a package
colcon build --packages-select [package]

# build a package with its dependencies(recommended)
colcon build --packages-up-to [package]

# build all packages under the workspace
colcon build

ROS Bag

ros2 bag play [data.bag] # 播放bag
ros2 bag info [data.bag] # 查詢bag裡有多少message, topic, etc
ros2 bag record -a       # record all topics

# some useful flags
-l # 循環播放
-r [rate] # 倍速播放
--remap [origin topic] [new topic] # topic rename

# for example, play only raw topic
ros2 bag play rosbag/rosbag2_2023_01_07-17_05_41/ 
	--remap /Imu0:=/t0 /Imu1:=/t1 /Imu2:=/t2 -r 5 -l

ros2 bag play rosbag2_2023_01_19-03_13_00/ 
--remap /Imu0:=/d /Imu1:=/d /Imu2:=/d /tf:=/t /tf_static:=/t -l -r 3

Launch file

Using Python, XML, and YAML for ROS 2 Launch Files - ROS 2 Documentation: Foxy documentation

Tutorial: ROS2 launch files - All you need to know - Robotics Casual

Our Packages

Receiver

This node receives IMU raw data from the glove(ESP32) and publish it to ROS network

ros2 run receiver receiver

IMU Filter

This node takes IMU raw data(accel, gyro, and optionally magnetic) and calculate the roll, pitch, yaw value of an IMU.

# imu node filter 
ros2 launch imu_filter_madgwick imu0.launch.py

# imu cluster filter, 
# this will launch imu0.launch, imu1.launch, imu2.launch + static tf
ros2 launch imu_filter_madgwick imu_cluster.launch.py

IMU Covariance Matrix Calculator

This node calculates IMU’s covariance matrix based on the given sequence of IMU reading

ros2 run covariance_matrix_calculator calculator

Dynamic Transform Calculator

This node calculates the dynamic tf of the hand

ros2 run dynamic_transform_calculator calculator

Labeler

This node is used to label training data

1. change the bag name in launch_master/label.launch.py

2. launch labeler

   ros2 launch launch_master label.launch.py

3. input label in another terminal using ros2 pub cli

   ros2 topic pub /User_Label std_msgs/msg/String "{data: 6}"  --once

Detector

This node recognizes different gesture

ros2 run detector gesture_detection 

ros2 launch detector gesture_detection.launch.py 

Commander

This node takes the output of the detector and control powerpoint

ros2 run commander control

ros2 launch commander control.launch.py

Launch Master

This package launch a sequence of nodes

# inference
ros2 launch launch_master inference.launch.py

# label
ros2 launch launch_master label.launch.py

Rviz

X axis is indicated in red, the Y axis is indicated in green, and the Z axis is indicated in blue.

rviz2 --display-config src/glove.rviz

Collecting data

cd FYP-Glove/rosbag/bag/
ros2 bag record /Imu0 /Imu1 /Imu2 /Imu0/Raw /Imu1/Raw /Imu2/Raw /tf /tf_static