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adirb:developers [2024/08/12 13:38] – Sandroadirb:developers [2025/03/11 16:29] (current) – Sandro
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 Welcome to the official developer documentation for ADIR BASIC, the differential drive robot designed for versatile indoor/ outdoor navigation. This chapter provides instructions on how to get ADIR up and running on your system. Welcome to the official developer documentation for ADIR BASIC, the differential drive robot designed for versatile indoor/ outdoor navigation. This chapter provides instructions on how to get ADIR up and running on your system.
 +
 +----
 +
 +=== REPOSITORY ===
  
 The official repository can be found here: [[https://github.com/AntRobotics-de/adir]] The official repository can be found here: [[https://github.com/AntRobotics-de/adir]]
 +
 +----
 +
 +=== SIMULATION ===
 +
 +This repository uses NVIDIA's Isaac Sim for simulating the Adir robot: [[https://github.com/AntRobotics-de/adir_simulation]]
  
 ---- ----
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 To use Adir, you must first install the necessary Debian packages. These packages contain all the dependencies and drivers required for Adir to operate seamlessly. The packages can latter be downloaded using rosdep. In order for rosdep to find the packages, we need to add the Antrobotics repository and the rosdep definitions for the packages. To use Adir, you must first install the necessary Debian packages. These packages contain all the dependencies and drivers required for Adir to operate seamlessly. The packages can latter be downloaded using rosdep. In order for rosdep to find the packages, we need to add the Antrobotics repository and the rosdep definitions for the packages.
 +
 **Adding apt repository** **Adding apt repository**
  
   curl -s --compressed "https://antrobotics-de.github.io/ppa/KEY.gpg" | gpg --dearmor | sudo tee /etc/apt/trusted.gpg.d/antrobotics_ppa.gpg >/dev/null   curl -s --compressed "https://antrobotics-de.github.io/ppa/KEY.gpg" | gpg --dearmor | sudo tee /etc/apt/trusted.gpg.d/antrobotics_ppa.gpg >/dev/null
-sudo curl -s --compressed -o /etc/apt/sources.list.d/antrobotics.list "https://antrobotics-de.github.io/ppa/antrobotics.list" +  sudo curl -s --compressed -o /etc/apt/sources.list.d/antrobotics.list "https://antrobotics-de.github.io/ppa/antrobotics.list" 
-sudo apt update+  sudo apt update
  
 +**Adding rosdep definition**
  
-== Cloning the Repository ==+  echo "yaml https://antrobotics-de.github.io/ppa/rosdep/antrobotics.yaml" | sudo tee /etc/ros/rosdep/sources.list.d/antrobotics.list >/dev/null 
 +  rosdep update 
 + 
 +**Cloning the repository**
  
   mkdir -p adir_ws/src   mkdir -p adir_ws/src
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   git clone -b ros2-humble https://github.com/AntRobotics-de/adir.git   git clone -b ros2-humble https://github.com/AntRobotics-de/adir.git
   cd ..   cd ..
 +  rosdep install --from-paths src --ignore-src -r -y
   colcon build --symlink-install   colcon build --symlink-install
  
 ---- ----
- 
- 
  
 == Launching ADIR == == Launching ADIR ==
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 To start using ADIR, you can use the following command: To start using ADIR, you can use the following command:
  
-  ros2 launch odometry adir.launch.py+  ros2 launch odometry odometry.launch.py
  
-To start moving it, we can publish forward and angular velocities from the terminal or scripts on ros2 topic ' /cmd_cel '+To start moving it, we can publish forward and angular velocities from the terminal or scripts on ros2 topic ' /cmd_vel '
  
 ---- ----
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 === ADDITIONAL INFORMATION === === ADDITIONAL INFORMATION ===
  
-== Topics Available: == +== Topics ==
- +
-For debugging purposes the folowing topics can be called. +
- +
-  /motor_controller/status +
- +
-can verify if stall is detected or if ADIR is running on RC/ autonomy commands +
- +
-  /motor_controller/fault_state+
  
-can verify if a situation like overheat, overvoltage, undervoltage, short circuit, emergency stop or mosfet failures happen using boolean+Below is a list of the topics used in this project along with their respective message types and descriptions.
  
-  /motor_controller/motor*/runtime_status+^ Topic Name (Publishers)      ^ Message Type       ^ Description ^ 
 +| /odom    | nav_msgs/Odometry | Publishes the adir odometry information(currently only using wheel encoders) | 
 +| /motor_controller/voltage      | std_msgs/Float | Publishes robot voltage. Please charge when it falls below 23V | 
 +| /motor_controller/status    | ros_can_interfaces/Frame | Publishes information on serial,pulse or analog mode and stall detection | 
 +| /motor_controller/fault_state    | ros_can_interfaces/Frame | Publishes information on overheating, undervoltage, overvoltage, shortcircuit, emergency stop, motor sensor setup fault & mosfet failure | 
 +| /motor_controller/motor*/runtimestatus    | ros_can_interfaces/Frame | Publishes information on amps limit active, motor stall. loop error detection, safety stop active, forward limit triggered, reverse limit triggered & amps trigger activated |
  
-can verify if a situation like motor_stalled, forward_limit_triggered, reverse_limit_triggered, amps_trigger_activated happen using boolean+^ Topic Name (Subscribers)      ^ Message Type       ^ Description ^ 
 +| /cmd_vel    | geometry_msgs/Twist | Subscribes to velocity commands for the robot |
  
-  /motor_controller/voltage+== Services ==
  
-can verify the voltage of ADIR. Please note if below 21V, please charge the ADIR.+^ Service Name      ^ Service Type       ^ Description ^ 
 +| /ResetOdometry    | std_srvs/Trigger | Resets the adir wheel odometry |
  
 ---- ----
  
  
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  • Last modified: 2024/08/12 13:38
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