Apple kraken stack

This repository contains two ROS2 packages:

o3de_kraken_nav
o3de_kraken_orchestration

Packages Description

O3DE Kraken Navigation

Provides navigation capabilities for the Apple Kraken vehicle.

O3DE Kraken Orchestration

Allows the Apple Kraken vehicle to operate autonomously.

ROS2 prerequisites

Middleware

CycloneDDS

sudo apt install ros-${ROS_DISTRO}-cyclonedds ros-${ROS_DISTRO}-rmw-cyclonedds-cpp

It is required that CycloneDDS implementation is chosen in every working terminal:

export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp

Packages

You will need to install the appropriate ROS2 package. Refer to setup requirements for the ROS2 Gem

In addition to the required packages for the ROS2 gem, you will also need some additional ROS2 packages.

Make sure to source the proper distribution's setup script

For Ubuntu 20.04 + ROS2 Galactic:
```
source /opt/ros/galactic/setup.bash
```
For Ubuntu 22.04 + ROS2 Humble:
```
source /opt/ros/humble/setup.bash
```

Run the following command to install the remaining required packages

sudo apt install ros-${ROS_DISTRO}-slam-toolbox ros-${ROS_DISTRO}-navigation2 ros-${ROS_DISTRO}-nav2-bringup ros-${ROS_DISTRO}-pointcloud-to-laserscan ros-${ROS_DISTRO}-teleop-twist-keyboard ros-${ROS_DISTRO}-ackermann-msgs ros-${ROS_DISTRO}-topic-tools

You will also need colcon installed in order to build the workspace. Run the following command to install.

sudo sh -c 'echo "deb [arch=amd64,arm64] http://repo.ros2.org/ubuntu/main `lsb_release -cs` main" > /etc/apt/sources.list.d/ros2-latest.list'

curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -

sudo apt update
sudo apt install python3-colcon-common-extensions

Libraries

The o3de_kraken_orchestration package uses the python-statemachine library.\ You can install it by running the following command

pip install python-statemachine

Note: Make sure you have the pip Python package manager installed.

Installation

Use the development branch of the O3DE.
Use the the development branch of the o3de-ros-gem.
Use the main branch of the ROSConDemo.

Source ROS2 (assumed humble)
```
source /opt/ros/humble/setup.bash
```

Build the workspace

cd ./kraken_nav
colcon build --symlink-install

Running simulation

Build and run the ROSConDemo
Load level Main
Start a simulation by hitting CTRL+G

Usage scenario

Base step (for every scenario)

Please make sure that the enviroment is correct. Note that you need to set it up for every console. You can consider adding it to your ~/.bashrc.

Make sure that you have ROS2 workspace sourced
```
source ./kraken_nav/install/setup.bash
```

Make sure that you have CycleDDS as middleware

export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp

Single robot teleoperation with joystick

Start teleoperation launch, make sure that you have your joystick plugged in

ros2 launch o3de_kraken_nav teleop.launch.py namespace:=apple_kraken_rusty_1

Spawn a single robot

ros2 service call /spawn_entity gazebo_msgs/srv/SpawnEntity '{name: 'apple_kraken_rusty', xml: 'line1'}'

You should be able to drive the robot

Single robot navigation

Note: Slam is turned off by default since we have ground truth information about the robot's position from the simulator. However, it is possible to enable slam_toolbox forcefully. You can allow slam by adding use_slam:=True to the navigation launch command.

Run the navigation stack

ros2 launch o3de_kraken_nav navigation_multi.launch.py namespace:=apple_kraken_rusty_1 rviz:=True

Spawn the robot

ros2 service call /spawn_entity gazebo_msgs/srv/SpawnEntity '{name: 'apple_kraken_rusty', xml: 'line1'}'

You should be able to send goal to the robot. Make sure that that you use only the first 2D Goal Pose

Multiple robots navigation

Note: Slam is turned off by default since we have ground truth information about the robot's position from the simulator. However, it is possible to enable slam_toolbox forcefully. You can allow slam by adding use_slam:=True to the navigation launch command.

Run the first navigation stack with Rviz param set to True:

ros2 launch o3de_kraken_nav navigation_multi.launch.py namespace:=apple_kraken_rusty_1 rviz:=True

Run the navigation stack for rest of the robots (in separate terminals):

ros2 launch o3de_kraken_nav navigation_multi.launch.py namespace:=apple_kraken_shiny_2 rviz:=False
ros2 launch o3de_kraken_nav navigation_multi.launch.py namespace:=apple_kraken_rusty_3 rviz:=False
ros2 launch o3de_kraken_nav navigation_multi.launch.py namespace:=apple_kraken_shiny_4 rviz:=False

Spawn multiple robots

ros2 service call /spawn_entity gazebo_msgs/srv/SpawnEntity '{name: 'apple_kraken_rusty', xml: 'line1'}' &&
ros2 service call /spawn_entity gazebo_msgs/srv/SpawnEntity '{name: 'apple_kraken_shiny', xml: 'line2'}' &&
ros2 service call /spawn_entity gazebo_msgs/srv/SpawnEntity '{name: 'apple_kraken_rusty', xml: 'line3'}' &&
ros2 service call /spawn_entity gazebo_msgs/srv/SpawnEntity '{name: 'apple_kraken_shiny', xml: 'line4'}'

You should be able to send goals to multiple robots.

Multiple robots with Kraken stack

In this scenario on top of four navigation stacks, the orchestrator nodes are executed. Those are providing navigation stacks with goals and trigger apple gathering.