Adir

Welcome to the official repository for Adir, the differential drive robot designed for versatile indoor/ outdoor navigation. This README provides instructions on how to get Adir up and running on your system.

• Adir
  • Prerequisites
  • Environment Setup
  • Installation
    • Adding apt repository
    • Adding rosdep definition
    • Cloning the Repository
  • Launching Adir
  • Additional information
    • Topics
    • Services

Prerequisites

• Ubuntu 22.04
• ROS2 Humble

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 you are 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.

Installation

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