INTRODUCTION

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


PREREQUISITES


ELECTRICAL INTEGRATION

CAN Connectivity Interface

 Size 12 - 8 pin Quicklock Connector: https://www.lutronic.biz/en/connectivity/product/2350+...+T06CB+T

Pin Function
1 GND
2 CAN_L
3 5V
4 External Emergency Switch
5 Digital Input
6 Digital Input
7 CAN_H
8 Digital Output
Joystick Interface

 Size 12 - 5 pin Quicklock Connector: https://www.lutronic.biz/en/connectivity/product/2350+...+T06CB+T

Pin Function
1 GND
2 5V
3 Joystick Button (pressed 5V)
4 Joystick Input 1 (Analog 0-5V)
5 Joystick Input 2 (Analog 0-5V)
Digital and Analog Inputs

Digital and Analog Inputs can be retrieved using the CAN BUS. The Digital Output can be set via CAN BUS:

Parameter Measure Point Min. Typical Max. Unit
5V Output Current - - - 100 mA
Digital Output Voltage Ground to Output pin - - 30 Volts
Digital Output Current Output pin, sink current - - 1 Amps
Digital Input 0 Level Ground to Input pin -1 - 1 Volts
Digital Input 1 Level Ground to Input pin 3 - 30 Volts
Analog Input Range Ground to Input pin 0 - 5.1 Volts

SOFTWARE INSTALLATION

Environment Setup

If you are using CAN by connecting to the given port on ADIR and CAN bus is up & running, then we can skip this step.

If using USB cable, please download the adir.sh bash script first and run it using the following commands:

chmod +x adir.sh
sudo ./adir.sh

Once succesfully run, then we can launch the run files. Please note that the can bit rate is currently set to 500000.

Installing Dependencies

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

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 apt update

Adding rosdep definition

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
cd adir_ws/src
git clone -b ros2-humble https://github.com/AntRobotics-de/adir.git
cd ..
rosdep install --from-paths src --ignore-src -r -y
colcon build --symlink-install

Launching ADIR

To start using ADIR, you can use the following command:

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_vel '


ADDITIONAL INFORMATION

Topics

Below is a list of the topics used in this project along with their respective message types and descriptions.

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
Topic Name (Subscribers) Message Type Description
/cmd_vel geometry_msgs/Twist Subscribes to velocity commands for the robot
Services
Service Name Service Type Description
/ResetOdometry std_srvs/Trigger Resets the adir wheel odometry