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utexas-bwi / segbot

ROS drivers for controlling Segway-based robots at the University of Texas at Austin
http://wiki.ros.org/segbot
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Kinetic: segbot_v2 system porting tasks #95

Closed jack-oquin closed 6 years ago

jack-oquin commented 6 years ago

Let's build the segway_rmp package in our source tree.

It depends on segwayrmp/libsegwayrmp#17. That package uses cmake, not catkin. In order to build it in our source trees, we'll need to use catkin build rather than catkin_make. Looking at the issue above, we need to migrate some more Qt4 code to Qt5, similar to the utexas-bwi/bwi_common#95 tasks.

All references to hokuyo_node must be removed and migrated to urg_node.

Then, the segbot_v2 laptops need to have Xenial installed.

jack-oquin commented 6 years ago

Commit d3eb4c6 removes the hokuyo_node build dependency.

It still needs testing on a real segbot_v2.

jack-oquin commented 6 years ago

Commit b2e47ae works around the Qt problem with building libsegwayrmp (segwayrmp/libsegwayrmp#17),

That allows the segbot_v2 base driver to compile. It still needs testing on a real robot.

jack-oquin commented 6 years ago

Further testing requires installing Xenial and Kinetic on one of the segbot_v2 robots. Since it's unlikely to work right off the bat, the ability to dual-boot both Xenial and Trusty is required.

jack-oquin commented 6 years ago

@nickswalker installed Xenial on the arm robot, and was able to get it moving with teleop. That actually proves quite a bit about libsegwayrmp and segway_rmp.

He was unable to do full navigation, because that robot currently has no display attached, making it difficult to localize and debug any navigation difficulties.

I am now optimistic that the other segbot_v2 machines will come up and run with only a few problems, once Xenial and Kinetic are installed.

jack-oquin commented 6 years ago

Bender has Xenial and Kinetic installed and is currently executing visit_door_list.

The navigation looks a bit jerky, with a tendency to over-steer.

The first thing to investigate is the laser output, since we now use urg_node on Kinetic in place of the deprecated hokuyo_node.

jack-oquin commented 6 years ago

Bender ran visit_door_list for well over an hour today, drunken steering and all.

jack-oquin commented 6 years ago

All the segbot_v2 robots are installed, configured, the software builds and the robots run basic regression tests.

Note that there are some problems with navigation getting stuck, see: #99.