warehouse as a robot Activity
Status: Pre-Alpha
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Activity for warehouse as a robot
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Paul Hancock posted a comment on a wiki page
well, we have moved right into humble hawksbill as the latest release of ros2.
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logic file for number two.
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current files...
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Just for the sake of simplicity and sanity, do not try to run this software directly from your ros2 workspace. In other words, I have found it best to create a new ros2 package and then add the files needed for operations to the newly created package.
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Facial recognition programming with ros module. https://www.youtube.com/watch?v=yENvskEKhJk
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https://www.reddit.com/r/embedded/comments/in543k/differences_between_ti_and_stm32/
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here is some security mechanisms for ros2
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Parts List
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Parts List
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Parts List
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Parts List
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Parts List
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Parts List
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a little bit about cron here. https://www.digitalocean.com/community/tutorials/how-to-use-cron-to-automate-tasks-ubuntu-1804
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an article on how to auto login to linux shell. https://askubuntu.com/questions/175248/how-to-autologin-without-entering-username-and-passwordin-text-mode
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the ros2 seems not to mind at all.
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Linux Bits for ros2
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ok well that didn't work. tried sudo service lightdm stop but that just locked the thing up.
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ok well that didn't work.
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some reference for ubuntu mate... disable gui on boot: sudo systemctl set-default multi-user log out of current gui: gnome-session-quit enable gui on boot: sudo systemctl set-default graphical
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warehouse as a robot released /alpha/Lights.msg
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microros
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microros
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https://www.geeksforgeeks.org/mouse-keyboard-automation-using-python/
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BeagleBone Black
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committed
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Currently using guizero as an interface constructor. info
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https://www.configserverfirewall.com/ubuntu-linux/install-python-idle-ubuntu-16/
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Galactic is the most current stable release at this time, with long term support into 2025 this version of ros2 is our preferred version. The WIKI pages are located here. https://docs.ros.org/en/galactic/index.html
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here is a picture of the pi and pinouts. https://www.youngwonks.com/blog/Raspberry-Pi-4-Pinout
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Parts List
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Parts List
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Parts List
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create ros2 action server
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Finish gui layout
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Finish gui layout
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Add channels to slave server
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ok, in order to run the pi headless or without a monitor the file /boot/firmware/config.txt needs to be modified slightly. add these lines... framebuffer_width=1920 framebuffer_height=1080 hdmi_force_hotplug=1 and then comment out this line... dtoverlay=vc4-fkms-v3d
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startros.sh located in files should be placed in the /etc/init.d directory, use chmod 775 to set executable. great tutorial here. https://www.stuffaboutcode.com/2012/06/raspberry-pi-run-program-at-start-up.html
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startros.sh located in files should be placed in the /etc/init.d directory, use chmod 775 to set executable.
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a quick tutorial on setting up a "kiosk" app. https://help.gnome.org/admin/system-admin-guide/stable/lockdown-single-app-mode.html.en
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import sys from guizero import App, Text, PushButton from example_interfaces.srv import AddTwoInts import rclpy from rclpy.node import Node row = 1 state = 3 class MinimalClientAsync(Node): def __init__(self): super().__init__('minimal_client_async') self.cli = self.create_client(AddTwoInts, 'add_two_ints') while not self.cli.wait_for_service(timeout_sec=1.0): self.get_logger().info('service not available, waiting again...') self.req = AddTwoInts.Request() def send_request(self): self.req.a = row...
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the previous text is how this is supposed to work but so far I have a bash script that seems to be working. I will post it from the dev machine.
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https://answers.ros.org/question/333968/how-to-start-ros2-node-automatically-after-starting-the-system/ [Unit] Description="Project daemon" [Service] Environment="ROS_DOMAIN_ID=42" Environment="LD_LIBRARY_PATH=/opt/project/install/lib:/opt/ros/dashing/lib" Environment="PYTHONPATH=/opt/project/install/lib/python3.6/site-packages:/opt/ros/dashing/lib/python3.6/site-packages/" Environment="AMENT_PREFIX_PATH=/opt/project/install:/opt/ros/dashing" ExecStart=/opt/ros/dashing/bin/ros2 launch --debug project_bringup...
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here is a pretty decent tutorial on how to create a custom gpio library for a raspbery pi gpio emulator to develop on other machines. https://pihw.wordpress.com/lessons/rgb-led-lessons/rgb-led-lesson-1-creating-python-libraries-colours/
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This is pretty straight forward as the code may be written directly into the node itself. (see code for wh_slave client)
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https://www.omg.org/about/index.htm
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import sys from example_interfaces.srv import AddTwoInts import rclpy from rclpy.node import Node class MinimalClientAsync(Node): def __init__(self): super().__init__('minimal_client_async') self.cli = self.create_client(AddTwoInts, 'add_two_ints') while not self.cli.wait_for_service(timeout_sec=1.0): self.get_logger().info('service not available, waiting again...') self.req = AddTwoInts.Request() def send_request(self): self.req.a = int(sys.argv[1]) self.req.b = int(sys.argv[2]) self.future = self.cli.call_async(self.req)...
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testing rpi.gpio
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this is a pretty good primer on the pi gpio specifics. https://www.ics.com/blog/control-raspberry-pi-gpio-pins-python
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Backup text from above web site.
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https://www.ics.com/blog/control-raspberry-pi-gpio-pins-python
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HHC-N8I8OP
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add interfaces
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emulator
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The turtle_teleop_key node seems to be a reliable control mechanism for a light switch application. I think it is time to look at this node a bit closer.
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Home
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Initial commit
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software can be found here, https://sourceforge.net/projects/warehouse-as-a-robot/files/py_srvcli.tar.gz/download
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Rough Node Map
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Rough Node Map
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Rough Node Map
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To begin with, there are three discreet light switch locations and a bank of fan switches at one of them. I think starting with three nodes for lights and one node for fans along with at least two Topics and two Parameters.
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Description of nodes and other components.
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Defining the nodes and inter-operability of the control system.
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Backup text from above web site. Serial Port setup in Raspberry Pi OS Configure the serial port on Raspberry Pi Created: 19/03/2016 | Last Updated: 02/07/2021 The Raspberry Pi contains a UART serial port on the GPIO header on pins 8, TXD (GPIO 14) and 10, RXD (GPIO 15). The UART port can be used to connect to a wide range of devices either directly using 3.3V UART pins or with a serial interface to convert the UART voltages to an industry standard such as RS232 or RS485. When connecting a device...
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Raspberry Pi 4
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Home
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Link to installation instructions and tutorials. http://docs.ros.org/en/galactic/Installation.html
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https://www.arduinolibraries.info/libraries/ros2arduino
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https://micro.ros.org//docs/tutorials/core/first_application_linux/
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8 Channel Network Relay Module Ethernet to RS485 Remote Control Relay Device Characteristic: Strong anti-interference ability, can be connected to external high-current AC contactor and relay, will not break under strong electromagnetic interference. The product is resistant to high temperature and can work in the environment of -40 to 85 ℃. Industrial grade products. Supports automatic IP acquisition. True 100M speed enables reliable communication with 0 delay commands. Supports 10 TCP Client connections...
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Oracle Virtual Box
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Ubuntu Mate
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Home
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Python
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Python
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ROS 2
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Home
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Raspberry Pi page here.
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Download and install here.
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