Autonomous Voice Activated Robot

The main objective of this project is to build and deploy various robotics modules which have been created for Qualcomm Robotics RB5 Development Kit.

Acronyms:

Prerequisites:

1. A Linux workstation with Ubuntu 18.04.
2. Install Android Platform tools (ADB, Fastboot)
3. Download and install the SDK Manager
4. Flash the RB5 firmware image on to the board
5. Setup the Network.
6. Install third party libraries and test basic RoS application as instructed here.
7. Turtlebot burger is assembled, operational and is connected to the Qualcomm Robotics RB5 development board.
8. Make sure that the development kit has installed portaudio from source.

Steps to build and deploy RB5 Scene Detection Application

1. Setup the project Directory in the Qualcomm Robotics RB5 development kit by cloning the project repository from the github.
   adb shell
cd /home/integrated-robotic-module-rb5
git clone https://github.com/globaledgesoft/integrated-robotic-module-rb5

1. Installation of TurtleBot 3 Package

   For the setup we will be using the TurtleBot3 Burger, we need to install TurtleBot Packages for controlling the TurtleBot.

   1. Setup the necessary packages by executing the following commands.
      apt install cmake python3-argcomplete python3-pip libboost-system-dev build-essential
pip3 install colcon-common-extensions
apt get install libasound-dev portaudio19-dev libportaudio2 libportaudiocpp0
   2. Create a new directory for TurtleBot 3.
      mkdir -p ~/turtlebot3_ws/src && cd ~/turtlebot3_ws/src
   3. Clone the necessary repositories and then access TurtleBot Folder
      git clone -b dashing-devel https://github.com/ROBOTIS-GIT/hls_lfcd_lds_driver.git
git clone -b dashing-devel https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git
git clone -b dashing-devel https://github.com/ROBOTIS-GIT/turtlebot3.git
git clone -b dashing-devel https://github.com/ROBOTIS-GIT/DynamixelSDK.git
cd ~/turtlebot3_ws/src/turtlebot3
   4. Remove the folders that are not required for the current project.
      rm -r turtlebot3_cartographer turtlebot3_navigation2
cd ~/turtlebot3_ws/
   5. Source & Building the TurtleBot3 Setup file
      echo 'source /opt/ros/dashing/setup.bash' >> ~/.bashrc
source ~/.bashrc
colcon build --symlink-install --parallel-workers 1

      if you get the error
      use the following command

      pip install pytest-rerunfailures
echo 'source ~/turtlebot3_ws/install/setup.bash' >> ~/.bashrc
source ~/.bashrc
echo 'export ROS_DOMAIN_ID=30 #TURTLEBOT3' >> ~/.bashrc
echo 'export TURTLEBOT3_MODEL=burger' >> ~/.bashrc
source ~/.bashrc

2. Steps to Setup Common ML Packages:

   We need to set up python libraries such as numpy and opencv-python for our application to run. Instructions for setting up them are as follows:

   1. Setup opencv python
      pip3 install --upgrade pip
Python3 -m pip install opencv-python
   2. Setup Numpy
      python3 -m pip install numpy
   3. Setup Sci-kit learn
      Apt install python3-sklearn
   4. Setup TensorFlow Lite runtime
      python3 -m pip install --index-url https://google-coral.github.io/py-repo/ tflite_runtime

3. Steps to flash ROS2 firmware into OpenCR:

   The Default firmware supports ROS1. As we are using ROS Dashing (ROS2 version), we need to upgrade OpenCR firmware.

   1. Create a temp folder for Binaries
      mkdir /home/opencrbin/ && cd /home/opencrbin
   2. Download the latest binaries & unzip
      wget https://github.com/ROBOTIS-GIT/OpenCR-
Binaries/raw/master/turtlebot3/ROS2/latest/opencr_update.tar.bz2
tar -xjf ./opencr_update.tar.bz2
   3. Set the OpenCR port & TurtleBot Model. Before flashing, check whether the ttyACM0 port exists.
      export OPENCR_PORT=/dev/ttyACM0
export OPENCR_MODEL=burger
   4. Upload the latest firmware by following command:
      dpkg --add-architecture armhf
apt-get update
apt-get install libc6:armhf
cd /home/opencrbin/opencr_update && ./update.sh $OPENCR_PORT $OPENCR_MODEL.opencr

      You will see the following response on the terminal window of the Qualcomm Robotics RB5 development kit and hear the OpenCR board chime to confirm the update was successful.

      

4. Steps to Setup USB Camera:

   1. Connect USB Camera to development kit.
   2. Attach the camera on Turtlebot3 Burger at 3rd layer from bottom, 20 degree facing down from vertical angle.

   Note: If you are using the build of October 2020 provided by Thundercomm, you may face the issue of coredump after attaching the USB Camera with mic. So before starting, stop pulse audio service.

5. Steps to Setup LiDAR:

   1. Connect LIDAR Scanner to Qualcomm Robotics RB5 development kit using microUSB cable.
   2. After connection make sure the /dev/ttyUSB0 port is accessible.