ROS2 port for some robots
Background: Contest is DARPA Triage Challenge Here is a 360 view of one of the courses from last year (viewer discretion - has simulated injuries, use the mouse to scroll around) You can see some of another teams robot running. https://youtu.be/eNnbdQN-Kik?list=PL6wMum5UsYvYlCNFhd9Y7MMURvPKbh07J&t=369
Robot Type 1 - Cornelius / Julius Initial Model - https://app.gazebosim.org/OpenRobotics/fuel/models/coro_hd2_sensor_config_1 Relevant Differences from Model - LIDAR is different model, D455 is about 1.5 meters up and tilted about 30 degrees down Platform is SuperDroidRobots HD2 Motor Controller is Roboclaw 2x60A controller Ouster OS0-128 LIDAR Memsense MS-IMU3025 IMU u-blox ZED-F9P GPS in RTK mode Intel D455 depth camera Laptop for control (currently running Ubuntu 20)
ROS1 roboclaw driver is in repository, ROS2 driver appears available - Cornelius has motor feedback but is not using it, Julius does not the encoders connected u-box ROS1 driver is in repository, ROS2 may be available Memsense ROS1 driver is in repository, probably needs ported
Robot Type 2 - Allie / Ames Initial Model - https://app.gazebosim.org/OpenRobotics/fuel/models/coro_allie_sensor_config_1 Relevant Differences from Model - LIDAR is different model, D455 is about 1.5 meters up and tilted 30 degrees down Custom Platform Motor Controller is revrobotics SPARK MAx - using RC PWM input Ouster OS0-128 LIDAR Memsense MS-IMU3025 IMU u-blox ZED-F9P GPS in RTK mode Intel D455 depth camera Laptop for control (currently running Ubuntu 20)
Motor driver is just simple conversion from speed/turn to PWM - no feedback
Robot Type 3 - Joe / Jeanine / Kepler / Jack / Susan Initial Model - https://app.gazebosim.org/OpenRobotics/fuel/models/CORO_JEANINE_SENSOR_CONFIG_1 Relevant Differences from Model - D455 is about 1.5 meters up and tilted 30 degrees down Custom Platform using re-purposed hoverboard motors Motor Controller is ODrive v3.6 Velodyne VLP-16 LIDAR Memsense MS-IMU3025 IMU u-blox ZED-F9P GPS in RTK mode Intel D455 depth camera Laptop for control (currently running Ubuntu 20)
Odrive ROS1 Motor driver is in repository - ROS2 probably available - all motors have feedback Motors are a bit low on torque, so depending on surface it can be challenging to turn in place