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Bindless-Chicken committed Oct 6, 2017
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NXT-ROS
=======

A software stack containing tools for using LEGO Mindstorms NXT with ROS.
<h1 align="center">
<br>
<img src ="https://avatars0.githubusercontent.com/u/32429642?v=4&s=100" />
<br>
NXT ROS - Core
<br>
</h1>

This branch depends on:<br> &#8226; ROS Groovy<br> &#8226; Python 2.x<br> &#8226; NXT-Python v2.2.2
Software stack containing all the required pieces to use Lego Mindstorms NXT with ROS

Originally forked from: http://stack-nxt.foote-ros-pkg.googlecode.com/hg
## Installation

.
### ROS package

###Documentation
Installation instructions are in this README file.
The repository is expected to be used as the source folder of a working catkin environnement.

The original documentation has more detailed information:
[wiki.ros.org/nxt](http://wiki.ros.org/nxt)
[wiki.ros.org/nxt_robots](http://wiki.ros.org/nxt_robots)
[wiki.ros.org/nxt_apps](http://wiki.ros.org/nxt_apps)
.

###Package status

These packages use `rosbuild` and were tested
with ROS Groovy on Ubuntu 12.04.

The following features have been tested:

**nxt** stack:

- **nxt_controllers**
Compiles ok, the base_controller has been tested.

- **nxt_description**
Working.

- **nxt_lxf2urdf**
Compiles ok, un-tested.

- **nxt_msgs**
Working.

- **nxt_python**
Working.

- **nxt_ros**
Working.
There is a new option to read the position of a motor as the absolute angle from 0 to 2*pi radians. By default the motor position is measured as the total +/- rotation in either direction, relative to the starting position.

- **nxt_ros_test**
Working.

- **nxt_rviz_plugin**
Working.

**nxt_robots** stack:

- **nxt_robot_gyro_car**
Working. The robot model can be viewed in Rviz.

- **nxt_robot_kit_test**
Working. This is a test package, so the robot looks like a pile of disconnected LEGO parts when viewed in Rviz.

- **nxt_robot_sensor_car**
Working. The robot model can be viewed in Rviz.

**nxt_apps** stack:

- **nxt_assisted_teleop**
Working.

- **nxt_teleop**
Working.

.


###Installation

Upgrade the firmware on your NXT brick.
The minimum required version is 1.28, but 1.31 is the latest as of Jan 2016.

Clone the Groovy branch of this repository:
> $ cd ~/
> $ git clone https://github.com/dbworth/NXT-ROS.git --branch groovy
Copy the 3 stacks into your ROS Workspace.
Note: you only need the `nxt` stack to get started.
> $ cp NXT-ROS/nxt ~/ROS_WORKSPACE/
> $ cp NXT-ROS/nxt_robots ~/ROS_WORKSPACE/
> $ cp NXT-ROS/nxt_apps ~/ROS_WORKSPACE/
Add the stacks to your $ROS_PACKAGE_PATH.
You might like to add these commands to your `~/.bashrc` file.
> $ export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:~/ros_workspace/nxt
> $ export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:~/ros_workspace/nxt_robots
> $ export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:~/ros_workspace/nxt_apps
**Install dependencies:**

NXT-Python v2.2.2 is automatically installed in the `/src` directory of the `nxt_python` package when we run `rosmake`.

You can install the other dependencies using the Ubuntu Package Manager or ROSdep:
> $ sudo apt-get install ros-groovy-ros-comm ros-groovy-common-msgs ros-groovy-joystick-drivers ros-groovy-visualization ros-groovy-navigation ros-groovy-orocos-kinematics-dynamics
> $ sudo aptitude install libusb-dev python-usb python-bluez
or

> $ sudo rosdep install -y nxt
> $ sudo rosdep install -y nxt_robots
> $ sudo rosdep install -y nxt_apps
Compile the stacks of packages:
> $ rosmake nxt
> $ rosmake nxt_robots
> $ rosmake nxt_apps
**Set the USB permissions:**

Add a new group:
> $ sudo groupadd lego
Add yourself to that group:
> $ sudo usermod -a -G lego USERNAME
For Ubuntu versions before 12.0, create a udev rules file for the lego group that you just created:
> $ echo "BUS==\"usb\", ATTRS{idVendor}==\"0694\", GROUP=\"lego\", MODE=\"0660\"" > /tmp/70-lego.rules && sudo mv /tmp/70-lego.rules /etc/udev/rules.d/70-lego.rules
For Ubuntu 12.04 use:
> $ echo "SUBSYSTEM==\"usb\", ATTRS{idVendor}==\"0694\", GROUP=\"lego\", MODE=\"0660\"" > /tmp/70-lego.rules && sudo mv /tmp/70-lego.rules /etc/udev/rules.d/70-lego.rules
Restart udev:
> $ sudo restart udev
Log-out or restart your computer.


###Test the installation:

Connect your NXT Brick to the computer via USB cable.
You can run this utility to display information about your Brick:
> $ rosrun nxt_python nxt_test
You should see the following output:
```
NXT brick name: MyBrick
Host address: 00:16:00:00:D3:00
Bluetooth signal strength: 0
Free user flash: 25872
Protocol version 1.124
Firmware version 1.31
Battery level 7602 mV
mkdir nxt
cd nxt
git clone --recursive https://github.com/NXT-ROS/nxt.git src
catkin init
catkin build
```

**nxt** stack:

Connect a touch sensor to port 1.
> $ roscore
> $ rosrun nxt_python touch_sensor_test.py
When you push the touch sensor, the output on the screen will change.
The node automatically exits are 5 seconds.

Now connect a motor to port A.
> $ roslaunch nxt_ros_test test.launch
Check the status of the touch sensor using ROS:
> $ rostopic echo /my_touch_sensor
When you push the touch sensor, the boolean value published in the ROS msg will change.

Read the position of the motor using ROS:
> $ rostopic echo /joint_states
When you rotate the motor shaft by hand, the position and velocity values published in the ROS msg will change.

Make the motor rotate using ROS:
> $ rostopic pub /joint_command nxt_msgs/JointCommand '{name: 'motor_joint', effort: 0.8}' --once
The 'effort' value can be in the range 0.0 to 1.25, with +/- to specify the direction.

To stop the motor, set the effort to 0.0:
> $ rostopic pub /joint_command nxt_msgs/JointCommand '{name: 'motor_joint', effort: 0.0}' --once
**nxt_robots** stack:
You now have all the required packages to run the ros-nxt core.

Connect motors to Port A and Port B of the NXT Brick.
Connect an ultrasonic sensor to Port 2.
Connect the NXT to your computer.
### NXT USB

> $ roscore
In order to communicate with the NXT, you will need to set the correct permissions.

In a new terminal:
> $ roslaunch nxt_robot_gyro_car robot.launch
In a new terminal:
> $ rosrun rviz rviz
In Rviz you'll need to set the Fixed Frame to '/base_link'.
Add a RobotModel display so you can visualize the robot.

**nxt_apps** stack:

In a new terminal:
> $ roslaunch nxt_teleop teleop_keyboard.launch
Use the arrow keys to control the motors.

You can also use a joystick.
Configure the joystick using the instructions here:
http://wiki.ros.org/joy/Tutorials/ConfiguringALinuxJoystick

> $ roslaunch nxt_teleop teleop_joy.launch
With the Microsoft XBox 360 joystick, you need to hold down the top-left button. The left joystick controls turning, the right joystick goes forward.

**MotorControl** firmware:

[MotorControl](http://www.mindstorms.rwth-aachen.de/trac/wiki/MotorControl) is a program that can be optionally installed on your NXT Brick to provide more accurate control of the motors using python. Instead of sending commands directly to the motor, you send commands to the onboard controller which tracks the status of the motors.

Copy the MotorControl program to your NXT Brick.
You must first change to the directory containing the *.rxe file:
> $ roscd nxt_python/src/MotorControl/
Connect to your Brick via USB cable and transfer the program binary:
```
sudo groupadd lego
sudo usermod -a -G lego $(id -un)
echo "SUBSYSTEM=="usb", ATTRS{idVendor}=="0694", GROUP="lego", MODE="0660"" > /tmp/70-lego.rules && sudo mv /tmp/70-lego.rules /etc/udev/rules.d/70-lego.rules
```

> $ rosrun nxt_python nxt_push MotorControl22.rxe
You can now reboot your system and hook up your NXT.

Test the controller using the provided test script:
> $ roscore
> $ rosrun nxt_python motor_cont_test.py
## Dependencies

The nxt-ros packages depends on:

=============
* ROS Kinetic
* Python 3
* NXT Python v3 (shipped as submodule)

## Using NXT ROS

As for any catkin package, you first need to add its folders to your environnement (make sure to select the correct file for your system).

```
cd nxt
source devel/setup.(bash|sh|zsh)
```

You can then start ros core and use any componnents of the nxt stack:

```
roscore
```

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