Robot for remote processing of premises using a UV lamp, v1

I am an employee of a sanatorium in the world-famous resort area of the Caucasus Mineral Waters, Russia. Health resorts in the post-pandemic period are subject to increased requirements for the safety of holidaymakers. It is mandatory to treat rooms for disinfection from microbes (including COVID) using UV lamps. These works should be carried out in a way that does not allow people to be exposed to radiation. We are going to use this robot, which will be controlled by the operator remotely and disinfect the room with UV lamps without irradiating employees.

The robot has 2 modes:

1) control from a remote computer via a web interface

controlling the movement of the platform and web-camera

2) control using a wireless joystick

As a robot, we used the design for Turtlebot 1 on the iRobot create moving platform.

Turtlebot 1 is not currently supported by the manufacturer, so we will build the software again. At robot and at the operator's workplace, we will use laptops with OS Ubuntu 16.04 (Ubuntu) operating system. Install the ROS Kinetic framework on it (http://wiki.ros.org/kinetic/Installation/Ubuntu). Robot Operating System (ROS) is a framework widely used in robotics. The ROS philosophy is to create software that works with various robots, with only minor changes in the code. This idea allows you to create functionality that can be transferred effortlessly for use by various robots.

Step 1. Install the ROS framework on your computer and the remote operator

Installation is performed on 2 laptops.

Due to the fact that installing the Manual on the official ROS website leads to errors, install according to the instructions below.

update source

sudo apt-get update

Configure ros source

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo sh -c '. /etc/lsb-release && echo "deb [arch=amd64] http://mirrors.ustc.edu.cn/ros/ubuntu/ $DISTRIB_CODENAME main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116

Install ros

ROS, rqt, rviz, robot-generic libraries, 2D/3D simulators, navigation and 2D/3D perception

sudo apt-get update
sudo apt-get install ros-kinetic-desktop-full

Initialize rosdep

Before you can use ROS, you will need to initialize rosdep. rosdep enables you to easily install system dependencies for source you want to compile and is required to run some core components in ROS.

sudo rosdep init
rosdep update

Environment setup

echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
source ~/.bashrc

Dependencies for building packages

sudo apt-get install python-rosinstall python-rosinstall-generator python-wstool build-essential

Before you can use many ROS tools, you will need to initialize rosdep. rosdep enables you to easily install system dependencies for source you want to compile and is required to run some core components in ROS. If you have not yet installed rosdep, do so as follows.

sudo apt install python-rosdep

With the following, you can initialize rosdep.

sudo rosdep init
rosdep update

Test install

roscore

At work (ip 192.168.2.111), enter the following data at the end of the ~/.bashrc file:

source /opt/ros/kinetic/setup.bash
export ROS_HOSTNAME="192.168.2.111"
export ROS_MASTER_URI="http://192.168.2.111:11311"

At operator position ((ip 192.168.2.112)):

source /opt/ros/kinetic/setup.bash
export ROS_HOSTNAME="192.168.2.112"
export ROS_MASTER_URI="http://192.168.2.111:11311"

Step 2. Creating a catkin workspace.

Creating a catkin workspace. Catkin is enabled by default when installing ROS.

mkdir -p ~ /catkin_ws/src
cd ~/satlink_ws/
catkin_make

Step 3. Installing the ROS driver for managing the iRobot Create moving platform

To control the moving iRobot Create platform from ROS you need to install the driver (https://github.com/AutonomyLab/create_autonomy)

Clone this repo

cd ~/create_ws/src
git clone https://github.com/AutonomyLab/create_autonomy.git

Install dependencies

cd ~/create_ws
rosdep update
rosdep install --from-paths src -i

Build

cd ~/create_ws
catkin build

In order to connect to Create over USB, ensure your user is in the dialout group

sudo usermod -a -G dialout $USER

Logout and login for permission to take effect

Running the driver

source ~/create_ws/devel/setup.bash

Connect computer to Create 1 DB-25 port

Launch file

roslaunch ca_driver create_1.launch

Step 4. Creating your own project in catkin

Creating your own project in catkin

cd ~/catkin_ws/src

In this case, we specify the dependencies-std_msgs rospy roscpp

catkin_create_pkg tod_robot1 std_msgs rospy roscpp

You can add dependencies later

Then compile

cd ~/catkin_ws
catkin_make

Step 5. Control the robot using a wireless joystick

To support the joystick in ROS you must install the joy and joy_teleop packages.

ROS package joy-the joystick driver is already installed in the system. By default, the joy package uses the /dev/input/js0 device. If your joystick has a different name (for example, /dev/input/js 1), you must install the joy_node/dev parameter on the parameter server before running the package:

rosparam set joy_node/dev "/dev/input/js 1"

After installing the packages, we can control the robot's movement using a joystick

Create the main 21.launch command file on your computer

<launch>
    <!-- iRobot create -->
   <arg name="config" default="$(find ca_driver)/config/default.yaml" />
   <arg name="desc" default="true" />

   <node name="ca_driver" pkg="ca_driver" type="ca_driver" output="screen">
    <rosparam command="load" file="$(arg config)" />
    <param name="robot_model" value="CREATE_1" />
   </node>

   
   <include if="$(arg desc)" file="$(find ca_description)/launch/create_1.launch" />

  <!-- joystick -->   

  <arg name="joy_dev" default="/dev/input/js0" />
  <arg name="joy_config" default="xbox360" />
  <arg name="teleop_config" default="$(find ca_tools)/config/$(arg joy_config).yaml" />

  <rosparam file="$(arg teleop_config)" command="load" />

  <node pkg="joy" type="joy_node" name="joy_node">
    <param name="dev" value="$(arg joy_dev)" />
    <param name="deadzone" value="0.2" />
    <param name="autorepeat_rate" value="20" />
  </node>

  <node pkg="joy_teleop" type="joy_teleop.py" name="joy_teleop">
  </node>

 
</launch>

Remotely via ssh or on the robot's computer, run 2 terminals:

1)

roscore

2)

cd catkin_ws
source devel/setup.bash
roslaunch td_robot1 main21.launch

And control the robot using a wireless joystick

Step 6. Connecting web cameras

Install support for usb cameras in ROS.

Looking at cameras in the system

lsusb 
ls /dev | grep video*

Install the ROS usb_cam node with the necessary dependencies:

sudo apt-get update
sudo apt-get install rus-kinetic-usb-ca

the usb_cam node already has a startup test file:

cat /opt/ros/kinetic/share/usb_com/launch/usb_cam-test.launch

Before running this file, let's run the ROS

roscore

and now run the usb_cam node on the slave:

roslaunch usb_cam usb_cam-test.launch

To see themes in the terminal:

rostopic list

reading the data of the camera using image_view:

rosrun image_view image_view image:=/usb_cam/image_raw

streaming to the web

Installing the ROS web video server node:

sudo apt-get install ros-kinetic-web-video-server

Step 7. Installing a web server at robot

Install a web server on your robot laptop to control the robot from the remote operator's workplace. Installing Apache in Ubuntu:

sudo apt-get install apache2

After installation, add the program to auto-upload:

sudo systemctl enable apache2

And launch the web server:

sudo systemctl start apache2

Without the php programming language, installing and configuring LAMP in Ubuntu will not be complete. PHP is the most popular programming language in the web. Install PHP 7 in Ubuntu 16.04 with the following command:

sudo apt-get install php 7.0-mysql php 7.0-curl php7. 0-json php 7.0-cgi php 7.0 libapache2-mod-php 7.0

If you want to install all available PHP modules so that there are no problems in the future, you can run the command:

sudo apt-get install php*

Step 8. Installing the rockbridge ROS package

Rosbridge provides a JSON API to ROS functionality for non-ROS programs. There are a variety of front ends that interface with rosbridge, including a WebSocket server for web browsers to interact with. Rosbridge_suite is a meta-package containing rosbridge, various front end packages for rosbridge like a WebSocket package, and helper packages.

There's two parts to rosbridge: the protocol and the implementation.

The rosbridge protocol a specification for sending JSON based commands to ROS (and in theory, any other robot middleware). An example of the protocol for subscribing to a topic:

{ "op": "subscribe",
  "topic": "/cmd_vel",
  "type": "geometry_msgs/Twist"
}

The specification is programming language and transport agnostic. The idea is that any language or transport that can send JSON can talk the rosbridge protocol and interact with ROS. The protocol covers subscribing and publishing topics, service calls, getting and setting params, and even compressing messages and more.

The rosbridge_suite package is a collection of packages that implement the rosbridge protocol and provides a WebSocket transport layer.

Installing Rosbridge

Rosbridge depends on a basic installation of ROS. After ROS is installed, you can install Rosbridge from a.deb package:

sudo apt-get install ros-<rosdistro>-rosbridge-suite

This will install the suite of rosbridge packages needed to get started.

Running Rosbridge

After installing ROS and rosbridge, you need to make sure your system is aware of the packages. To set up your environment for ROS and rosbridge:

source /opt/ros/kinetic/setup.bash

All that's left is to run rosbridge. To launch rosbridge and its packages like rosbridge_server and rosapi, a launch file is included in the install. To launch the file, run:

roslaunch rosbridge_server rosbridge_websocket.launch

This will run rosbridge and create a WebSocket on port 9090 by default.

Step 9. Creating a page for rossbridge (controlling the movement of the platform and web-camera)

Creating a page index13.html

In the /var/www/html folder

On the page, the nipplejs virtual joystick for sending messages to the subject /cmd_vel (robot movement control), as well as streaming images from camera

<!DOCTYPE html>
<html>
<head>
<meta charset="utf-8" />
<script type="text/javascript" src="js/roslib.min.js"></script>
<script type="text/javascript" src="js/nipplejs.js"></script>
<script type="text/javascript" type="text/javascript">
var ip="192.168.2.111";
var ros = new ROSLIB.Ros({
url : 'ws://'+ip+':9090'
});
ros.on('connection', function() {
document.getElementById("status").innerHTML = "Connected";
});
ros.on('error', function(error) {
document.getElementById("status").innerHTML = "Error";
});
ros.on('close', function() {
document.getElementById("status").innerHTML = "Closed";
});
var txt_listener = new ROSLIB.Topic({
ros : ros,
name : '/txt_msg',
messageType : 'std_msgs/String'
});
txt_listener.subscribe(function(m) {
document.getElementById("msg").innerHTML = m.data;
});
cmd_vel_listener = new ROSLIB.Topic({
ros : ros,
name : "/cmd_vel",
messageType : 'geometry_msgs/Twist'
});
move = function (linear, angular) {
var twist = new ROSLIB.Message({
linear: {
x: linear,
y: 0,
z: 0
},
angular: {
x: 0,
y: 0,
z: angular
}
});
cmd_vel_listener.publish(twist);
}
createJoystick = function () {
var options = {
zone: document.getElementById('zone_joystick'),
threshold: 0.1,
position: { left: 50 + '%' },
mode: 'static',
size: 150,
color: '#000000',
};
manager = nipplejs.create(options);
linear_speed = 0;
angular_speed = 0;
manager.on('start', function (event, nipple) {
timer = setInterval(function () {
move(linear_speed, angular_speed);
}, 25);
});
manager.on('move', function (event, nipple) {
max_linear = 1.0; // m/s
max_angular = 1.0; // rad/s
max_distance = 75.0; // pixels;
linear_speed = Math.sin(nipple.angle.radian) * max_linear * nipple.distance/max_distance;
angular_speed = -Math.cos(nipple.angle.radian) * max_angular * nipple.distance/max_distance;
});
manager.on('end', function () {
if (timer) {
clearInterval(timer);
}
self.move(0, 0);
});
}
window.onload = function () {
//createJoystick();
}
function set_ip()
{
ip=document.getElementById("ip").value;
ros.close();
ros = new ROSLIB.Ros({
url : 'ws://'+ip+':9090'
});
alert("new ip - "+ip);
if(ros.isConnected === true)
{document.getElementById("status").innerHTML = "Connected";}
else
{document.getElementById("status").innerHTML = "Closed";}
var obj=document.getElementById("choice_camera");
//alert(obj.value);
new_camera(obj.value);
}
function new_camera(topic)
{
alert(topic);
document.getElementById("camera_robot").src="http://"+ip+":8080/stream?topic="+topic;
}
</script>
</script>
</head>
<body onload='createJoystick();new_camera(document.getElementById("choice_camera").value);'>
<h1>Simple ROS User Interface</h1>
<p>Connection status: <span id="status"></span></p>
<p>Last /txt_msg received: <span id="msg"></span></p>
<div id="zone_joystick" style="position: relative;"></div>
<form id=formoptions name=formoptions action="javascript:void();" onsubmit="return false;">
<select name=choice_camera id=choice_camera onchange='new_camera(this.value)'>
<option value="/usb_cam1/image_raw"> /usb_cam1/image_raw
<option value="/usb_cam0/image_raw"> /usb_cam0/image_raw
</select>
<input type='text' name='ip' id='ip' value='192.168.2.111' onchange='set_ip();'>
</form>
<img id=camera_robot src="">
</body>
</html>

Create the main 22.launch command file on your computer

<launch>
   <include file="$(find rosbridge_server)/launch/rosbridge_websocket.launch"/>
   <!-- iRobot create -->
   <arg name="config" default="$(find ca_driver)/config/default.yaml" />
   <arg name="desc" default="true" />

   <node name="ca_driver" pkg="ca_driver" type="ca_driver" output="screen">
    <rosparam command="load" file="$(arg config)" />
    <param name="robot_model" value="CREATE_1" />
   </node>

   
   <include if="$(arg desc)" file="$(find ca_description)/launch/create_1.launch" />

   <!-- camera -->
   <node name="web_video_server1" pkg="web_video_server" type="web_video_server">
  </node>
  <node name="usb_cam0" pkg="usb_cam" type="usb_cam_node" output="screen" >
    <param name="video_device" value="/dev/video0"></param>
    <param name="image_width" value="320"></param>
    <param name="image_height" value="240"></param>
    <param name="pixel_format" value="yuyv"></param>
    <param name="camera_frame_id" value="usb_cam"></param>
    <param name="io_method" value="mmap"></param>
  </node>

</launch>

Remotely via ssh or on the robot's computer, run 2 terminals:

1)

roscore

2)

cd catkin_ws
source devel/setup.bash
roslaunch td_robot1 main22.launch

And control the movement of the platform and web-camera from a remote computer via a web interface

Step 10. Connecting an Arduino Board to ROS

We will control the UV lamp from the Arduino controller via a relay.

To connect Arduino to ROS (to receive and send messages in ROS), you must install the rosserial_arduino package.

$ sudo apt-get install ros-kinetic-rosserial-arduino
$ sudo apt-get install ros-kinetic-rosserial

To launch the package, define the connection port of the Arduino Board

The start-up of package arduino-rus serial

rosrun rosserial_python serial_node.py /dev/ttyACM0

To write a sketch on Arduino (get a message from the ROS topic and turn on / off the UV lamp via a relay), you need to install the rosserial library in the Arduino IDE.

Sketch of getting a message from the topic /setUF for turning on / off the UV lamp

// rosserial  
#include <ros.h> 
#include <std_msgs/Int32.h>  
ros::NodeHandle  nh; 

void messageCb( const std_msgs::Int8& toggle_msg) {
   if(toggle_msg.data==1) {
       digitalWrite(8,HIGH);
   }
   else {
       digitalWrite(8,LOWH);
   }
}  
ros::Subscriber<std_msgs::Float32> sub("setUF", &messageCb );  

void setup() {  
   pinMode(18, OUTPUT);
   digitalWrite(8,LOW);
   nh.initNode();
   nh.subscribe(sub); 
}  

void loop() {
   nh.spinOnce();
   delay(1000); 
}

Step 11. Starting the robot

a page for rossbridge

<!DOCTYPE html>
<html>
<head>
<meta charset="utf-8" />

<script type="text/javascript" src="js/roslib.min.js"></script>
<script type="text/javascript" src="js/nipplejs.js"></script>
<script type="text/javascript" type="text/javascript">
  var uf=0;
  var ip="192.168.2.111";
  var ros = new ROSLIB.Ros({
    url : 'ws://'+ip+':9090'
  });

  ros.on('connection', function() {
    document.getElementById("status").innerHTML = "Connected";    
  });

  ros.on('error', function(error) {
    document.getElementById("status").innerHTML = "Error";
  });

  ros.on('close', function() {
    document.getElementById("status").innerHTML = "Closed";
  });
  var UF = new ROSLIB.Topic({
    ros : ros,
    name : '/setUF',
    messageType : 'std_msgs/Int8'
  });


  cmd_vel_listener = new ROSLIB.Topic({
    ros : ros,
    name : "/cmd_vel",
    messageType : 'geometry_msgs/Twist'
  });

  move = function (linear, angular) {
    var twist = new ROSLIB.Message({
      linear: {
        x: linear,
        y: 0,
        z: 0
      },
      angular: {
        x: 0,
        y: 0,
        z: angular
      }
    });
    cmd_vel_listener.publish(twist);
  }

  var UF = new ROSLIB.Topic({
       ros : ros,
       name : '/setUF',
       messageType : 'std_msgs/Int8t'
     });
     
    createJoystick = function () {
      var options = {
        zone: document.getElementById('zone_joystick'),
        threshold: 0.1,
        position: { left: 50 + '%' },
        mode: 'static',
        size: 150,
        color: '#000000',
      };
      manager = nipplejs.create(options);
      linear_speed = 0;
      angular_speed = 0;
      manager.on('start', function (event, nipple) {
        timer = setInterval(function () {
          move(linear_speed, angular_speed);
        }, 25);
      });
      manager.on('move', function (event, nipple) {
        max_linear = 1.0; // m/s
        max_angular = 1.0; // rad/s
        max_distance = 75.0; // pixels;
        linear_speed = Math.sin(nipple.angle.radian) * max_linear * nipple.distance/max_distance;
				angular_speed = -Math.cos(nipple.angle.radian) * max_angular * nipple.distance/max_distance;
      });
      manager.on('end', function () {
        if (timer) {
          clearInterval(timer);
        }
        self.move(0, 0);
      });
    }
    window.onload = function () {
      //createJoystick();
    }

  function set_ip()
    {
    ip=document.getElementById("ip").value;
    ros.close();
    ros = new ROSLIB.Ros({
       url : 'ws://'+ip+':9090'
       });
    alert("new ip - "+ip);
    if(ros.isConnected === true)
       {document.getElementById("status").innerHTML = "Connected";}
    else 
       {document.getElementById("status").innerHTML = "Closed";}
    var obj=document.getElementById("choice_camera");
    //alert(obj.value);
    new_camera(obj.value);
    }

  function new_camera(topic)
    {
    alert(topic);
    document.getElementById("camera_robot").src="http://"+ip+":8080/stream?topic="+topic;
    }

function change_UF()
    {
    uf=1-uf;
    alert(uf);
    if(uf===1)
      {document.getElementById("button_uf").style.background="blue"; 
       document.getElementById("button_uf").innerText="UF ON";
       UF.publish({'data':1});
      }
    else
      {document.getElementById("button_uf").style.background="transparent";
       document.getElementById("button_uf").innerText="UF OFF";
       UF.publish({'data':0});

      }
    }

</script>

</script>
</head>

<body onload='createJoystick();new_camera(document.getElementById("choice_camera").value);'>
  <h1>Simple ROS User Interface</h1>
  <p>Connection status: <span id="status"></span></p>
  <p>Last /txt_msg received: <span id="msg"></span></p>
  <div><button id="button_uf" onclick="change_UF();">UF OFF</div>
  <div id="zone_joystick" style="position: relative;"></div>

    <form id=formoptions name=formoptions action="javascript:void();" onsubmit="return false;">
      <select name=choice_camera id=choice_camera onchange='new_camera(this.value)'>
        <option value="/usb_cam1/image_raw"> /usb_cam1/image_raw
         <option value="/usb_cam0/image_raw"> /usb_cam0/image_raw
      </select>
      <input type='text' name='ip' id='ip' value='192.168.2.111' onchange='set_ip();'>
      
    </form>
    <img id=camera_robot src="">

</body>
</html>

Create the main23.launch command file on your computer

<launch>
   <include file="$(find rosbridge_server)/launch/rosbridge_websocket.launch"/>
   <!-- iRobot create -->
   <arg name="config" default="$(find ca_driver)/config/default.yaml" />
   <arg name="desc" default="true" />

   <node name="ca_driver" pkg="ca_driver" type="ca_driver" output="screen">
    <rosparam command="load" file="$(arg config)" />
    <param name="robot_model" value="CREATE_1" />
   </node>

   
   <include if="$(arg desc)" file="$(find ca_description)/launch/create_1.launch" />

   <!-- camera -->
   <node name="web_video_server1" pkg="web_video_server" type="web_video_server">
  </node>
  <node name="usb_cam0" pkg="usb_cam" type="usb_cam_node" output="screen" >
    <param name="video_device" value="/dev/video0"></param>
    <param name="image_width" value="320"></param>
    <param name="image_height" value="240"></param>
    <param name="pixel_format" value="yuyv"></param>
    <param name="camera_frame_id" value="usb_cam"></param>
    <param name="io_method" value="mmap"></param>
  </node>
  // arduino
  <node name="serial_node" pkg="rosserial_python" type="serial_node.py">
            <param name="port" value="/dev/ttyACM0"/>
            <param name="baud" value="57600" />
  </node>
</launch>

Remotely via ssh or on the robot's computer, run 2 terminals:

1)

roscore

2)

cd catkin_ws
source devel/setup.bash
roslaunch tod_robot1 main23.launch

And control the robot