This enables a simple Turtlebot2 robot that will autonomously go forward, bump, turn left, and repeat. By connecting an Xbox 360 controller, the robot can be manually controlled by holding down the shoulder buttons. Autonomous control can be toggled by clicking the A button (to enable robot autonomy) and the B button to disable robot autonomy)
Visual Studio 2017
MinnowboardMax as x64 Windows IoT Core (with fix for Gamepad API)
Turtlebot2
Xbox 360 Controller
Microsoft Xbox 360 Wireless Receiver for Windows
Using 'x64 Native Tools Command Prompt for VS 2017' (not 2015), follow setup instructions (up to, BUT NOT INCLUDING, Building the ROS 2 Code) for ROS2 found here
To build debug binaries, follow the "Extra stuff for Debug mode" instructions found here
https://github.com/ros2/ros2/wiki/Windows-Development-Setup. Then build using the following
command:
python src\ament\ament_tools\scripts\ament.py build --cmake-args -DCMAKE_BUILD_TYPE=Debug To build pluginlib, a small change is needed to accomodate Visual Studio's version of the std
libraries. You'll need to change src\ros\pluginlib\include\pluginlib\impl\filesystem_helper.hpp
from:
#if defined(__has_include)
to this:
#if defined(_MSC_VER)
#include <experimental/filesystem> // C++-standard header file name
#include <filesystem> // Microsoft-specific implementation header file name
namespace pluginlib
{
namespace impl
{
namespace fs = std::experimental::filesystem;
} // namespace impl
} // namespace pluginlib
#define PLUGINLIB__IMPL__FILESYSYEM_HELPER__HAS_STD_FILESYSTEM
#elif defined(__has_include) To use OpenCV and VS2017, I had to modify <OpenCV_DIR>\OpenCVConfig.cmake. The version in the ROS2 zip was
not up to date (see: https://github.com/opencv/opencv/blob/master/cmake/templates/OpenCVConfig.root-WIN32.cmake.in).
I had to change this line in OpenCVConfig.cmake from:
elseif(MSVC_VERSION EQUAL 1910)
set(OpenCV_RUNTIME vc15)
to this:
elseif(MSVC_VERSION MATCHES "^191[0-9]$")
set(OpenCV_RUNTIME vc15) (Optionally) To build this specifically for Window 10 IoT Core, I have changed the way CMAKE works so that
by default it only links to onecoreuap.lib. This is not required because of the API forwarders. To
do this, change C:\Program Files\CMake\share\cmake-3.9\Modules\Platform\Windows-MSVC.cmake
on the line below marked with ****
if(_MSVC_C_ARCHITECTURE_FAMILY STREQUAL "ARM" OR _MSVC_CXX_ARCHITECTURE_FAMILY STREQUAL "ARM")
set(CMAKE_C_STANDARD_LIBRARIES_INIT "kernel32.lib user32.lib")
elseif(MSVC_VERSION GREATER 1310)
if(CMAKE_VS_PLATFORM_TOOLSET MATCHES "(v[0-9]+_clang_.*|LLVM-vs[0-9]+.*)")
# Clang/C2 in MSVC14 Update 1 seems to not support -fsantinize (yet?)
# set(_RTC1 "-fsantinize=memory,safe-stack")
set(_FLAGS_CXX " -frtti -fexceptions")
else()
set(_RTC1 "/RTC1")
set(_FLAGS_CXX " /GR /EHsc")
endif()
set(CMAKE_C_STANDARD_LIBRARIES_INIT "onecoreuap.lib") ****
else()
set(_RTC1 "/GZ")
set(_FLAGS_CXX " /GR /GX")
set(CMAKE_C_STANDARD_LIBRARIES_INIT "kernel32.lib user32.lib gdi32.lib winspool.lib comdlg32.lib advapi32.lib shell32.lib ole32.lib oleaut32.lib uuid.lib odbc32.lib odbccp32.lib")
endif() Navigate to the development folder you set up in the first step (we will assume, as ROS2 suggests in their
instructions, c:\dev\ros2)
To enable map_server, you will need to download SDL and SDL_Image. Once this is done, set the following environment variables to point at the respective install directories: SDLDIR and SDLIMAGEDIR.
Run the following commands to get the Turtlebot2 source code:
curl -sk https://raw.githubusercontent.com/bfjelds/turtlebot2-win10/win10/turtlebot2_win10.repos -o turtlebot2_win10.repos
vcs import src < turtlebot2_win10.reposRun the following commands to get additional advanced source code:
curl -sk https://raw.githubusercontent.com/bfjelds/turtlebot2-win10/win10/advanced_win10.repos -o advanced_win10.repos
vcs import src < advanced_win10.reposRun the following command to build the Turtlebot2 + advanced binaries from a VS2017 x64 Native Tools Command Prompt (assuming
development folder of c:\dev\ros2). To just build the Turtlebot2 binaries, omit "advanced" from the following command:
C:\dev\ros2\src\turtlebot2-win10\build.cmd advancedFor Turtlebot2, validate that the following files exist (assuming development folder of c:\dev\ros2):
C:\dev\ros2\install\lib\teleop_twist_joy\teleop_node.exe
C:\dev\ros2\install\bin\teleop_twist_joy.dll
C:\dev\ros2\install\bin\kobuki_node.exe
C:\dev\ros2\install\bin\avoid_obstacles_node.exe
GamepadNodeUwp.appxc:\dev\ros2):Install X64 Windows IoT Core on your MBM
Configure Kobuki driver TODO: get these instructions correct ... this is from memory
Copy c:\dev\ros2\src\turtlebot2-win10\kobuki.inf to your device
Install kobuki.inf using devcon tool from SSH:
devcon dp_add kobuki.infConfigure kobuki to use COM1 from SSH:
reg add "hklm\system\controlset001\enum\ftdibus\VID_0403+PID_6001+kobuki_AH02B8WIA\0000\Device Parameters" /v PortName /t REG_SZ /d COM1 /fRestart kobuki driver using devcon tool from SSH:
devcon restart *usb*vid_0403*pid_6001*Install GamepadNodeUwp. This can be done in several ways: TODO: make the following instructions true
From Visual Studio. To do this, open c:\dev\ros2\src\turtlebot2-win10\GamepadNodeUwp\GamepadNodeUwp.vcxproj using
Visual Studio. Specify your MBM as target and F5 deploy it.
From the Windows Device Portal. To do this, open your MBM's Device Portal by opening
From SSH. Copy your APPX, dependency APPXs, and CER files. Use the deployappx tool to install.
Create C:\data\ROS2 on your MBM
Copy contents of c:\dev\ros2\install to your MBM's C:\data\ROS2
Create C:\data\ROS2\turtlebot2.cmd file to start the required Turtlebot2 nodes
set Path=c:\data\ros2\Scripts;c:\data\ros2\bin;%path%
start C:\data\ros2\bin\kobuki_node.exe
start C:\Data\ros2\Lib\teleop_twist_joy\teleop_node.exe
start C:\Data\ros2\bin\avoid_obstacles_node.exeConfigure your device to allow GamepadNodeUwp to communicate with other ROS2 nodes by creating the following task on your MBM using SSH:
CheckNetIsolation.exe LoopbackExempt -a -n=GamepadNodeUwp_1w720vyc4ccym
schtasks /create /tn EnableRosCommunication /f /sc onstart /ru system /tr "checknetisolation LoopbackExempt -is -n=GamepadNodeUwp_1w720vyc4ccym!App"Configure GamepadNodeUwp to be the startup app on your MBM by using SSH:
iotstartup add headed GamepadNodeUwp_1w720vyc4ccym!AppRestart device.