Asking for help to start with Elre-Rover

[ymdong]

Hello,
I just got my Elre-Rove and really a beginner of this. I tried to go through the tutorial from here: http://docs.erlerobotics.com/brains/erle-brain-3/getting_started. I have flashed the OS into the SD card and insert it back to the erle-brain 3. Now I'm supposed to install a autopilot software:

Once your brain is configured and the operating system is running, the next step is to install a flight stack or in other words, an autopilot. Erle Robotics offers support for two software autopilots solutions:

Ardupilot (APM) autopilot
PX4 PRO autopilot

Where should I install this APM autopilot, on my mac or on elre brain? When I click the above link for Ardupilot (APM) autopilot, I read this:

The recommended way to install any vehicle is the following (after frambuesa release):

Connect your Erle-Brain 3 to internet, open one terminal and execute the following commands:

curl packages.erlerobotics.com/keys/deploy | sudo bash
sudo apt-get update
sudo apt-get install apm-copter-erlebrain

So here, should I connect the erle-brain with ethernet? I suppose I need to run those command on my mac? So I need to connect my mac with elre-brain using maybe wifi?

Sorry I'm really confused here and didn't get the logic of this tutorial. I really appreciate if anyone can help me clarify this.

And my current goal is to run this example: http://docs.erlerobotics.com/erle_robots/erle_rover/examples/teleoperation_erle_rover. Can anyone give me a step by step guideline on setup if I want to run this example? Thanks a lot!

BTW, I also received B2-STX remote controller with Elre-Rover, so how can I pair the remote controller with the rover? Thanks!

[LanderU]

Hi @ymdong,

with Erle-Rover we send you the image flashed and configured. But, now you need follow these steps to have again the Erle-Rover working:

• Insert the SD card in your Erle-Brain 3.
• Connect a ethernet wire in your Erle-Brain 3.
• Connect using a HDMI your Erle-Brain 3 and a screen.
• Turn on the Erle-Brain 3.
• Using a keyboard type the following commands (Erle-Brain 3):

curl packages.erlerobotics.com/keys/deploy | sudo bash # Download the keys
sudo apt-get install apm-rover-erlebrain

Now your Erle-Brain 3 is an Erle-Rover. My advice, you can download in your mac a GCS(APM Planner, Mission Planner...). After that, upload these paramters:

erlerobot/erle_parameters/blob/master/rover/APMrover2-18-07-2017-frambuesa.param

When we have solved all of these, I'm gonna explain you the teleoperation steps.

Regards,

@LanderU

[ymdong]

Thanks for the response, I hope you can help me through this. Now I downloaded AMP planner 2 on my mac, for the parameter file you show me, do I need to somehow upload in the APM planner software? How do I use this APM planner software to communicate with my erle-brain? Also can you show me the steps of the teleoperation example? Do I need to install the ROS on erle-brain maybe follow http://docs.erlerobotics.com/robot_operating_system/ros/tutorials?

[LanderU]

Hi @ymdong,

frambuesa 3
elre-brain login:

Is asking you for the user.

user: erle
pass:holaerle

I download AMP planner 2 on my mac, for the parameter file you show me, do I need to somehow upload in the APM planner software? How do I use this APM planner software to communicate with my erle-brain?

Firstly, you need install the apm firmware in your Erle-Brain. When you have this done, you need connect your Erle-Brain with your computer (via WiFi). When you have all of these steps, you can upload the parameters using one of the tabs in APM Planner.

Regards,

@LanderU

[ymdong]

Thanks for the explanation. Right now I run the command

curl packages.erlerobotics.com/keys/deploy | sudo bash # Download the keys
sudo apt-get install apm-rover-erlebrain

Now in the erle-brain system, I have

is this the right thing I should see at this step? Now I download the parameter file APMrover2-18-07-2017-frambuesa.param. Should I put it in this folder?

And I connect the elre-rover with my mac using erle-brain's default wifi. How should I do the setup in APM planner? And what are the later steps to run the teleoperation example?

Thanks!

[ymdong]

Hi @LanderU,

Thanks for the help. I think I have installed the apm firmware by running:

curl packages.erlerobotics.com/keys/deploy | sudo bash # Download the keys
sudo apt-get install apm-rover-erlebrain
Now I assume this is the setup for erle-brain for now? I don't need to go through the step of Compile Ardupilot (APM) from its sources on http://docs.erlerobotics.com/brains/erle-brain-3/sofware/apm, right?

Now I can connect the erle-brain with my computer via wifi, but I still didn't get the APM planner parameter setting part.

Let's say if I want to run the example http://docs.erlerobotics.com/erle_robots/erle_rover/examples/teleoperation_erle_rover or https://www.hackster.io/LanderU/erle-brain-2-live-video-streaming-into-the-web-browser-b3733d
It seems I need to install the ROS maybe follow http://docs.erlerobotics.com/robot_operating_system/ros/tutorials/tutorial_1?

I also want to ask how I can use the received B2-STX remote controller to control Elre-Rover. Is there any additional setting I need to do?

Thanks a lot!

[LanderU]

Hi @ymdong,

Now I can connect the erle-brain with my computer via wifi, but I still didn't get the APM planner parameter setting part.

Could you please, share with us a video?

It seems I need to install the ROS maybe follow

No, in your Erle-Brain ROS is already installed.

I also want to ask how I can use the received B2-STX remote controller to control Elre-Rover. Is there any additional setting I need to do?

No, just connected.

Regards,

@LanderU

[ymdong]

Thanks a lot! @LanderU. I notice in another post http://forum.erlerobotics.com/t/cant-make-the-robot-move/2473/11, you upload a video https://www.youtube.com/watch?time_continue=58&v=YpQW31x5LOE on how to upload parameters. When I open the APM planner, I didn't see this page

What I have is

Do I need to first use the USB cable to connect my mac with erle-brain first like figure below follow http://ardupilot.org/planner2/docs/install-firmware.html? But when I connect like this, it's still the same in APM planner as above. What are the right steps to use APM planner?

Also, I just want to confirm there are actually two ways to interact with the rover: one way is to use APM planner and another way to directly use ROS command without setup in APM planner. Is this a right understanding?

Thanks!

[LanderU]

Hi @ymdong,

Do I need to first use the USB cable to connect my mac with erle-brain first like figure below follow http://ardupilot.org/planner2/docs/install-firmware.html?

Ethernet over USB is not available in Erle-Brain 2/3. You already have the firmware installed using sudo apt-get install apm-rover-erlebrain.

You need connect your MAC to the Erle-Brain hotspot. After that, you'll find the Full Parameter List tab.

Also, I just want to confirm there are actually two ways to interact with the rover: one way is to use APM planner and another way to directly use ROS command without setup in APM planner. Is this a right understanding?

Yes and no. You can interact with your rover using ROS commands, this is true. APM Planner is a application that provide you the possibility to change things (parameters, create autonomous missions...).

Regards,

@LanderU

[ymdong]

Thanks @LanderU,
I think I have installed the firmware by sudo apt-get install apm-rover-erlebrain. And I can connect the rover with MAC using erle-brain hotspot.

But when I open APM planner now, the Full Parameter List doesn't show up. It seems it's not connected?

Just to confirm, I just need to connect the rover with MAC using erle-brain wifi, then I open the APM planner, it will automatically connect and the Full Parameter List will show up, right?

Also, I have another strange issue with using the received B2-STX 2.4GHZ RC. When I turn on the erle-brain and the RC, it seems I can control the steering normally, but if I trigger the throttle, for one time, the rover won't response at all, and if I turn off and turn on the rover again, the throttle motor just keep running even when I don't trigger the throttle in RC. What do you think can cause such issue? I think the wiring should be alright, it seems like some communication issue?

Thanks a lot!
@ymdong

[LanderU]

Hi @ymdong,

in order to connect using WiFi you need enable this option(images below):

Regards,

@LanderU

[ymdong]

Thanks @LanderU,
Now I can load the parameters using APM planner and I can use the RC to control the rover without problem. I also tried the move rover around code in http://docs.erlerobotics.com/erle_robots/erle_rover/first_steps, it seems working fine. But I still have some problem with keyboard teleoperation example. I follow these steps:

mkdir -p ~/erle_ws/src
cd ~/erle_ws/src
git clone https://github.com/erlerobot/gazebo_cpp_examples
cd ..
catkin_make --pkg ros_erle_cpp_teleoperation_erle_rover

When I catkin_make, it shows image_transport module not found, so I follow this post http://forum.erlerobotics.com/t/compile-error-image-transport-module-not-found/3376 and download the image_common into src folder. Now I run catkin_make --pkg ros_erle_cpp_teleoperation_erle_rover again, it shows

CMake Warning at /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:76 (find_package):
Could not find a package configuration file provided by "cv_bridge" with
any of the following names:

cv_bridgeConfig.cmake
cv_bridge-config.cmake

Add the installation prefix of "cv_bridge" to CMAKE_PREFIX_PATH or set
"cv_bridge_DIR" to a directory containing one of the above files. If
"cv_bridge" provides a separate development package or SDK, be sure it has
been installed.
Call Stack (most recent call first):
gazebo_cpp_examples/erle-copter_pattern_follower/CMakeLists.txt:7 (find_package)

-- Could not find the required component 'cv_bridge'. The following CMake error indicates that you either need to install the package with the same name or change your environment so that it can be found.
CMake Error at /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
Could not find a package configuration file provided by "cv_bridge" with
any of the following names:

cv_bridgeConfig.cmake
cv_bridge-config.cmake

Add the installation prefix of "cv_bridge" to CMAKE_PREFIX_PATH or set
"cv_bridge_DIR" to a directory containing one of the above files. If
"cv_bridge" provides a separate development package or SDK, be sure it has
been installed.
Call Stack (most recent call first):
gazebo_cpp_examples/erle-copter_pattern_follower/CMakeLists.txt:7 (find_package)

-- Configuring incomplete, errors occurred!
See also "/home/erle/erle_ws/build/CMakeFiles/CMakeOutput.log".
Invoking "cmake" failed
erle@erle-brain:~/erle_ws $ cd src
erle@erle-brain:~/erle_ws/src $ ls
CMakeLists.txt gazebo_cpp_examples image_common rover_control.py

It seems some package is still missing. Do you know how to solve this issue?
Thanks a lot!

[LanderU]

Hi @ymdong,

Now I can load the parameters using APM planner and I can use the RC to control the rover without problem. I also tried the move rover around code in http://docs.erlerobotics.com/erle_robots/erle_rover/first_steps, it seems working fine.

Glad to read this!

It seems some package is still missing. Do you know how to solve this issue?

Sure, you need download these packages in your src folder and compile it.

Regards,

@LanderU

[ymdong]

Thanks @LanderU,
I have downloaded the package you suggested in src folder, then I run catkin_make, it still show some error

erle@erle-brain:~/erle_ws/src $ git clone https://github.com/ros-perception/vision_opencv.git
Cloning into 'vision_opencv'...
remote: Counting objects: 4526, done.
remote: Total 4526 (delta 0), reused 0 (delta 0), pack-reused 4526
Receiving objects: 100% (4526/4526), 967.51 KiB | 0 bytes/s, done.
Resolving deltas: 100% (2482/2482), done.
Checking connectivity... done.
erle@erle-brain:~/erle_ws/src $ ls
CMakeLists.txt image_common rover_control.py~
gazebo_cpp_examples rover_control.py vision_opencv
erle@erle-brain:~/erle_ws/src $ cd ..
erle@erle-brain:~/erle_ws $ catkin_make
Base path: /home/erle/erle_ws
Source space: /home/erle/erle_ws/src
Build space: /home/erle/erle_ws/build
Devel space: /home/erle/erle_ws/devel
Install space: /home/erle/erle_ws/install

Running command: "cmake /home/erle/erle_ws/src -DCATKIN_DEVEL_PREFIX=/home/erle/erle_ws/devel -DCMAKE_INSTALL_PREFIX=/home/erle/erle_ws/install -G Unix Makefiles" in "/home/erle/erle_ws/build"

-- Using CATKIN_DEVEL_PREFIX: /home/erle/erle_ws/devel

-- Using CMAKE_PREFIX_PATH: /opt/ros/kinetic
-- This workspace overlays: /opt/ros/kinetic
-- Using PYTHON_EXECUTABLE: /usr/bin/python
-- Using Debian Python package layout
-- Using empy: /usr/local/lib/python2.7/dist-packages/em.pyc
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/erle/erle_ws/build/test_results
-- gtest not found, C++ tests can not be built. Please install the gtest headers globally in your system or checkout gtest (by running 'svn checkout http://googletest.googlecode.com/svn/tags/release-1.6.0 gtest' in the source space '/home/erle/erle_ws/src' of your workspace) to enable gtests
-- nosetests not found, Python tests can not be run (try installing package 'python-nose')
-- catkin 0.7.4
-- BUILD_SHARED_LIBS is on
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~ traversing 16 packages in topological order:
-- ~~ - image_common (metapackage)
-- ~~ - opencv_tests
-- ~~ - ros_erle_rover_navigation
-- ~~ - image_geometry
-- ~~ - vision_opencv (metapackage)
-- ~~ - camera_calibration_parsers
-- ~~ - ros_erle_cpp_examples_arming_and_disarming
-- ~~ - ros_erle_cpp_examples_change_mode
-- ~~ - ros_erle_cpp_examples_rc
-- ~~ - ros_erle_cpp_teleoperation_erle_rover
-- ~~ - cv_bridge
-- ~~ - image_transport
-- ~~ - camera_info_manager
-- ~~ - polled_camera
-- ~~ - ros_erle_pattern_follower
-- ~~ - ros_erle_rover_tf
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin metapackage: 'image_common'
-- ==> add_subdirectory(image_common/image_common)
-- +++ processing catkin package: 'opencv_tests'
-- ==> add_subdirectory(vision_opencv/opencv_tests)
-- +++ processing catkin package: 'ros_erle_rover_navigation'
-- ==> add_subdirectory(gazebo_cpp_examples/ros_erle_rover_navigation)
-- +++ processing catkin package: 'image_geometry'
-- ==> add_subdirectory(vision_opencv/image_geometry)
-- skipping nosetests(directed.py) in project 'image_geometry'
CMake Warning at /opt/ros/kinetic/share/catkin/cmake/test/gtest.cmake:66 (message):
skipping gtest 'image_geometry-utest' in project 'image_geometry'
Call Stack (most recent call first):
/opt/ros/kinetic/share/catkin/cmake/test/gtest.cmake:34 (catkin_add_executable_with_gtest)
vision_opencv/image_geometry/test/CMakeLists.txt:3 (catkin_add_gtest)

CMake Error at vision_opencv/image_geometry/test/CMakeLists.txt:4 (target_link_libraries):
Cannot specify link libraries for target "image_geometry-utest" which is
not built by this project.

-- Configuring incomplete, errors occurred!
See also "/home/erle/erle_ws/build/CMakeFiles/CMakeOutput.log".
Invoking "cmake" failed

Could you please give me any idea on how to solve this?

Thanks!

[ileao]

Hi ymdong,

It seems the cmake is not installed, please check it,
cmake --version

if it's not

sudo apt-get install cmake

it might work!

best wishes,

ileao

[ymdong]

Hello @LanderU,

I'm still not able to run the teleoperation example due to the error I wrote previously. But now I have another question. I can connect the rover with my mac and also set up parameters in APM planner without any problem. But I have problem to connect the rover with a desktop running windows 7 system. I use a wifi dongle on desktop and can connect the erle-robotics-frambuesa wifi:

Now I follow this video http://forum.erlerobotics.com/t/how-to-connect-erle-brain-3-to-apm-planner-mission-planner-windows-10/2144, I turn off the firewall and open the mission planner, select UDP and type 10.0.0.2. But it fails to connect:

I actually can use a software called PuTTY to set up ssh connection with rover on desktop:

I can access all the stuff in erle brain, but if I run mission planner and I'm still not able to connect the rover with mission planner as before. Could you please to tell me what is the right way to connect the rover with windows desktop and set up the parameters using mission planner? Thanks a lot!

Regards,
ymdong

[LanderU]

Hi @ymdong,

did you have tried using 10.0.0.2:6000?

Regards,

@LanderU

[ymdong]

Hi @LanderU,

Thanks for the suggestion! Now it works and I can use both APM planner and mission planner to connect with rover on windows.

Can I ask another question about using joystick? I'm thinking of using a joystick like Logitech G920 racing wheel to control the erle-rover. But when I move the joystick around(steering wheel and gas pedal), in the joystick setting of APM planner, I can observe the value changes as the figure below:

But it seems the data has not been successfully transmitted to the rover since the rover doesn't move. Is there any other settings or changes I need to do for using joystick with erle-rover? Like which mode should I set in APM planner? (the manual mode?) Do I need to make any changes on the parameters in GCS? Thanks a lot!

Regards,
ymdong

[VictorGab]

HI @ymdong
Have you made again the RC calibration?

Hope that this instructions can help you.

Regards.