ADBSCAN on AAEON Robot Kit

This tutorial describes how to run the ADBSCAN algorithm on the real robot UP Xtreme i11 AAEON Robot Kit using the Intel® RealSense™ camera input. During the execution of the program the ADBSCAN algorithm detects objects, and draws them in rviz. Then, the FastMapping algorithm uses data from the ADBSCAN to generate a 2D Map of the environment around. User can use the default setup to move robot via gamepad or keyboard, so the 3D-camera on the robot can scan surroundings around.

Prerequisites:

• Assemble your robotic kit following the instructions provided by AAEON.

• Ensure the system is set up correctly.

• To control the robot remotely, you may need a Logitech* F710 gamepad (to be purchased separately).

Run the ADBSCAN Algorithm Using the AAEON Robot Kit

1. To download and install the tutorial run the command below:

   sudo apt-get install ros-humble-aaeon-adbscan-tutorial-common
   sudo apt-get install ros-humble-aaeon-adbscan-tutorial
   

2. Please perform IMU calibration of the robot, launch script below:

   source /opt/ros/humble/setup.bash
   /opt/ros/humble/share/ros2_amr_interface/scripts/calibration.sh
   

3. Place the robot in front of an object and use one of the two methods described below to control the robot:

   

Gamepad Robot Control Method

1. Launch the ADBSCAN AAEON Robot gamepad control program:

   sudo chmod a+rw /dev/input/js0
   sudo chmod a+rw /dev/input/event*
   

   source /opt/ros/humble/setup.bash
   /opt/ros/humble/share/aaeon_adbscan/tutorial-aaeon-adbscan/aaeon_robot_with_adbscan_realsense_gamepad.sh
   

2. Move the robot around using the gamepad:

   

   • Hold the RB button, then press the Mode button on the joystick.

   • The green LED near this button should illuminate.

   • Use the D-pad to control the robot’s movement.

   

Keyboard Robot Control Method

1. Launch the ADBSCAN AAEON Robot keyboard control program:

   source /opt/ros/humble/setup.bash
   /opt/ros/humble/share/aaeon_adbscan/tutorial-aaeon-adbscan/aaeon_robot_with_adbscan_realsense_keyboard.sh
   

2. In a separate Terminal window launch keyboard control handler:

   source /opt/ros/humble/setup.bash
   ros2 run teleop_twist_keyboard teleop_twist_keyboard
   

   The robot responds to your keyboard commands in these ways:

   • i: Move forward

   • k: Stop

   • ,: Move backward

   • j: Turn right

   • l: Turn left

   • q/z: Increase/decrease max speeds by 10%

   • w/x: Increase/decrease only linear speed by 10%

   • e/c: Increase/decrease only angular speed by 10%

   • L or J (only for omnidirectional robots): Strafe (move sideways)

   • anything else: Stop

   • Ctrl-c: Quit

3. Move the robot around using the keyboard buttons:

   

   Note

   To keep keyboard controls working keep second terminal window above other windows.

   

Expected Results

1. On the server rviz, you will see how ADBSCAN interprets the Intel® RealSense™ camera data based on real objects around the robot:

   • Green blocks indicate objects around.

     

   • Turn off MarkerArray in rviz to see a 2D Map generated by FastMapping.

     

2. Default ADBSCAN view in the rviz window:

   

3. Enable FastMapping 2D map view by turning off MakerArray check-box:

   

Troubleshooting

For general robot issues, go to: Troubleshooting for Autonomous Mobile Robot Tutorials .