drivers

Wheeltec Roboworks drivers

ROS 2 packages

SSH

IP can be from 192.168.101 to 192.168.104 look at https://github.com/robotverseny/fyi

sshwheeltec@192.168.0.101

password: dongguan

SSH no password: https://github.com/szenergy/szenergy-public-resources/wiki/H-SSH-no-password

Packages and build

It is assumed that the workspace is ~/ros2_ws/.

Clone the packages

cd~/ros2_ws/src

gitclonehttps://github.com/robotverseny/drivers

Required

sudoaptupdate

lslidar_driver needs libpcap0.8-dev, not libpcap-dev.

sudoaptinstalllibpcap0.8-devlibpcl-devlibboost-all-devros-jazzy-nav2-msgsros-jazzy-ackermann-msgsros-jazzy-tf2-msgsros-jazzy-tf2-geometry-msgsros-jazzy-joint-state-publisherros-jazzy-robot-localizationros-jazzy-usb-camros-jazzy-foxglove*

cd~/ros2_ws

rosdepinstall--from-pathssrc--ignore-src-y

rosdepupdate

Build ROS 2 packages

cd~/ros2_ws

colconbuild--symlink-install--packages-selectserialwheeltec_robot_msglslidar_msgslslidar_driverturn_on_wheeltec_robotwheeltec_robot_urdfusb_cam_launcherwheeltec_py_package

Don't forget to source before ROS commands.

source~/ros2_ws/install/setup.bash

Add similar to ~/.bashrc

source /opt/ros/jazzy/setup.bash
export RCUTILS_COLORIZED_OUTPUT=1
my_ip=$(ip a | grep 192. | awk '{print $2}'| cut -d'/' -f1 | head -n 1)echo -e "robo_f | \e[44m$my_ip\e[0m | fekete - black"

Driver installation

sudodmesg|greptty

[ 0.000000] Kernelcommandline:reboot=wcoherent_pool=1M8250.nr_uarts=1pci=pcie_bus_safesnd_bcm2835.enable_compat_alsa=0snd_bcm2835.enable_hdmi=1smsc95xx.macaddr=2C:CF:67:33:1D:14vc_mem.mem_base=0x3fc00000vc_mem.mem_size=0x40000000zswap.enabled=1zswap.zpool=z3foldzswap.compressor=zstdmultipath=offdwc_otg.lpm_enable=0console=tty1root=LABEL=writablerootfstype=ext4rootwaitfixrtcquietsplash
[ 0.000198] printk:legacyconsole [tty1] enabled
[ 0.017826] 107d001000.serial:ttyAMA10atMMIO0x107d001000 (irq=15, base_baud=0) isaPL011rev2
[ 0.625036] 107d50c000.serial:ttyS0atMMIO0x107d50c000 (irq=39, base_baud=6000000) isaBroadcomBCM7271UART
[ 0.625133] serialserial0:ttyportttyS0registered
[ 5.321466] usb2-1.3:cp210xconverternowattachedtottyUSB0
[ 5.335873] usb2-1.4:cp210xconverternowattachedtottyUSB1

lsusb

Bus001Device001:ID1d6b:0002LinuxFoundation2.0roothubBus002Device001:ID1d6b:0002LinuxFoundation2.0roothubBus002Device002:ID1a40:0101TerminusTechnologyInc.HubBus002Device004:ID10c4:ea60SiliconLabsCP210xUARTBridgeBus002Device005:ID10c4:ea60SiliconLabsCP210xUARTBridgeBus003Device001:ID1d6b:0003LinuxFoundation3.0roothubBus004Device001:ID1d6b:0002LinuxFoundation2.0roothubBus004Device002:ID05e3:0608GenesysLogic, Inc.HubBus004Device006:ID2bc5:050eOrbbec3DTechnologyInternational, IncUSB2.0CameraBus004Device007:ID2bc5:060eOrbbec3DTechnologyInternational, IncORBBECDepthSensorBus005Device001:ID1d6b:0003LinuxFoundation3.0roothub

sudonano/etc/udev/rules.d/usb.rules

sudosuecho'KERNEL=="ttyUSB*", ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="ea60",ATTRS{serial}=="0002", MODE:="0777", GROUP:="dialout", SYMLINK+="wheeltec_controller"'>/etc/udev/rules.d/wheeltec_controller.rulesecho'KERNEL=="ttyUSB*", ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="ea60",ATTRS{serial}=="0001", MODE:="0777", GROUP:="dialout", SYMLINK+="wheeltec_laser"'>/etc/udev/rules.d/rplidar_laser.rulesecho'KERNEL=="ttyUSB*", ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="ea60",ATTRS{serial}=="0003", MODE:="0777", GROUP:="dialout", SYMLINK+="wheeltec_laser"'>/etc/udev/rules.d/ld14.rulesecho'KERNEL=="ttyCH343USB*", ATTRS{idVendor}=="1a86", ATTRS{idProduct}=="55d4",ATTRS{serial}=="0002", MODE:="0777", GROUP:="dialout", SYMLINK+="wheeltec_controller"'>/etc/udev/rules.d/wheeltec_wheeltec.rulesserviceudevreloadsleep2serviceudevrestartsleep2udevadmcontrol--reload-rulessleep2udevadmtrigger

ls/dev/wh*

Result:

/dev/wheeltec_controller/dev/wheeltec_laser

sudoudevadmcontrol--reload-rules&&sudoudevadmtrigger

cd~/ros2_ws/src/drivers/turn_on_wheeltec_robot

sudochmod+xwheeltec_udev.sh

./wheeltec_udev.sh

Run the driver

Lidar driver:

ros2launchlslidar_driverlslidar_launch.py

Camera driver:

ros2launchusb_cam_launcherusb_cam_a.launch.py

All in one:

ros2launchturn_on_wheeltec_robotturn_on_wheeltec_robot.launch.pylidar:=truecamera:=truefoxglove:=truejoy:=false

You can select the lidar, camera, foxglove, joy with true or false.

Copy robags (mcap)

rsync-avzh--progresswheeltec@192.168.0.100:/home/wheeltec/bag/my_record1/mnt/c/bag/

Topic list

TODO: Update the list (this only the first version)

Topic	Hz	Msg Type
/ackermann_cmd	0.06	ackermann_msgs/msg/AckermannDriveStamped
/cmd_vel	0.06	geometry_msgs/msg/Twist
/scan	10.0	sensor_msgs/msg/LaserScan
/lslidar_point_cloud	10.0	sensor_msgs/msg/PointCloud2
/robotvel	20.01	wheeltec_robot_msg/msg/Data
/robotpose	20.01	wheeltec_robot_msg/msg/Data
/imu	19.61	sensor_msgs/msg/Imu
/power_voltage	1.63	std_msgs/msg/Float32
/odom_combined	39.24	nav_msgs/msg/Odometry
/robot_description	N/A	std_msgs/msg/String
/tf	29.65	tf2_msgs/msg/TFMessage
/tf_static	0.10	tf2_msgs/msg/TFMessage
/joint_states	10.00	sensor_msgs/msg/JointState

Links

• github.com/robotverseny/fyi