JSDaleman's ROS, MQTT, Gazebo, RViz 'starter kit' for EV3 drive base

[Growflavor]

@JSDaleman created a very nice ROS, MQTT, Gazebo, RViz with EV3 starter package for the EV3 "Drive base with gyro" briefly mentioned in this post.

Merits being added to https://www.ev3dev.org/projects/
"how you can submit your project page to be hosted on the site": https://www.ev3dev.org/docs/tutorials/adding-new-project/

I used google chrome to translate the github pages describing the setup:

https://github.com/JSDaleman/ev3dev_ROS
https://github.com/JSDaleman/ev3_mqtt_ros

I encountered a number of issues while setting up the WSL2 Ubuntu 20.04, so below are the streamlined steps that actually worked for me.

Configure a free hivemq account:

https://github.com/JSDaleman/ev3_mqtt_ros#-creaci%C3%B3n-de-broker-y-configuraci%C3%B3n
https://console.hivemq.cloud/

EV3 booted with ev3dev:
sudo apt install python3-paho-mqtt

Windows 11 PC:

Ubuntu 20.04 uses Python 3.8.10

wsl --install Ubuntu-20.04

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

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

sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable lsb_release -cs main" > /etc/apt/sources.list.d/gazebo-stable.list'

wget https://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -

sudo apt update
sudo apt upgrade

sudo apt install gedit
sudo apt install nautilus

sudo apt install python3-pip
sudo apt install python3-venv
python3 -m pip install --upgrade pip

python3 -m pip install PyQt5
python3 -m pip install paho-mqtt
python3 -m pip install --upgrade paho-mqtt
python3 -m pip install catkin_tools
python3 -m pip install catkin_pkg
python3 -m pip install empy

sudo apt install ros-noetic-desktop-full #https://wiki.ros.org/noetic/Installation/Ubuntu
sudo apt install python3-catkin-tools
sudo apt install python3-rospkg
sudo apt install python3-roslaunch
sudo apt install python3-rosdep python3-rosinstall python3-rosinstall-generator python3-wstool build-essential
sudo rosdep init
rosdep update
catkin config --extend /opt/ros/noetic

mkdir -p ev3ros/src

cd ev3ros
git clone https://github.com/JSDaleman/ev3_mqtt_ros

cd ev3ros/src
git clone https://github.com/JSDaleman/ev3dev_ROS.git

cd ..
:~/ev3ros$ catkin init

nano ~/.bashrc
Add the following two lines to the end of you .bashrc:

source ~/ev3ros/devel/setup.bash

export PYTHONPATH=$PYTHONPATH:/usr/lib/python3/dist-packages

source ~/.bashrc

Change MQTT broker address to your hivemq URL in these three .py scripts:

ev3ros/src/ev3dev_ROS/mqtt/src/mqtt/mqtt_remote_method_calls.py
def __init__(self, delegate=None, id=1, mqtt_broker_ip="e9d73965c3fe4220b51bf8e5f1365a27.s1.eu.hivemq.cloud"):

ev3ros/src/ev3dev_ROS/mqtt/scripts/mqtt_messenger.py
def __init__(self, delegate=None, id=1, mqtt_borker_ip="e9d73965c3fe4220b51bf8e5f1365a27.s1.eu.hivemq.cloud"):

ev3ros/ev3_mqtt_ros/Scripts/Robot/mqtt_remote_method_calls.py
def __init__(self, delegate=None, id=1, mqtt_broker_ip="e9d73965c3fe4220b51bf8e5f1365a27.s1.eu.hivemq.cloud"):

:~/ev3ros$ catkin build

Copy the files from ev3_mqtt_ros/Scripts/Robot over to the EV3 (I used ev3dev extension in VScode):
https://github.com/JSDaleman/ev3_mqtt_ros?tab=readme-ov-file#-carga-de-archivos-al-robot

In the terminals of the demo video you can see the following launch commands:

https://youtu.be/NIEbXVXS-eo?si=NYXHjLuXi48-MR_O&t=13

Run on the PC:
:~/ev3ros$ roslaunch ev3_launch_pkg ev3_teleop.launch

or

:~/ev3ros$ roslaunch ev3_launch_pkg ev3_teleop_simulate.launch

Run on the EV3: (I use Ev3dev extension in VScode to run in interactive terminal)

ev3_MQTT.py

if Rviz does not render the EV3 model, telling openGL to cpu render does work as described in the "known issue":
https://github.com/JSDaleman/ev3dev_ROS/tree/main#-fallas-conocidas

LIBGL_ALWAYS_SOFTWARE=1 rviz

[Growflavor]

ROS1 tutorials:
robojackets: ROS Training - Fall 2020
many more robojackets ROS/software playlists

These two provide a sense for what is happening 'under the hood of JSDaleman's ROS1, Gazebo, RViz 'starter kit' for EV3:
ROS Training - Introduction
ROS Training - rqt

---

ROS2 Humble (supported until May 2027) is matched with Ubuntu 22.04 LTS.

I used windows 11 hyper-v in this case for a Ubuntu 22.04 LTS vm to make it easier to do the lidar etc. tutorials linked further below since eventually we will use lidar/ROS2/EV3/Rpi

setup following the ROS2 Humble documentation was smooth:
Humble Installation Ubuntu (deb packages)

additional packages:
sudo apt update
sudo apt install ros-dev-tools
sudo apt install ros-humble-gazebo-ros-pkgs
sudo apt install ros-humble-xacro
sudo apt install ros-humble-twist-mux
sudo apt install ros-humble-teleop-twist-keyboard
sudo apt install ros-humble-ros2-control ros-humble-ros2-controllers
sudo apt install ros-humble-gz-ros2-control ros-humble-gz-ros2-control-demos
sudo apt install ros-humble-turtlebot3*

How to prepare your ROS 2 environment
Using turtlesim, ros2, and rqt
Nodes in ROS 2, and the tools to interact with them

note: ROS2 uses colcon build tool rather than catkin

ROS2 tutorial playlist (made using ROS2 Foxy) with companion blog & github repo:

The camera & lidar parts of the youtube tutorial at the links below are fun/inspirational to watch first just to get a sense of what is possible both via Gazebo simulator & actual cameras/lidar.

companion blog: https://articulatedrobotics.xyz/tutorials/ready-for-ros/what-you-need-for-ros/
companion git: https://github.com/joshnewans/articubot_one/tree/humble

https://youtube.com/playlist?list=PLunhqkrRNRhYYCaSTVP-qJnyUPkTxJnBt&si=qOuWtnFMEner-6hH
youtube: Five Things You Need Before Starting With ROS
youtube: How do we add LIDAR to a ROS robot
youtube: How to use Cameras in ROS (Sim Camera and Pi Camera)
link: Github repo at this point in the project

youtube: Using ros2_control to drive our robot (off the edge of the bench...)
issues running on ROS Humble vs FOXY:
https://github.com/joshnewans/articubot_one/commits/humble
joshnewans/articubot_one@main...Monash-Connected-Autonomous-Vehicle:ITS_Main_Vehicle:main
joshnewans/articubot_one#45
https://robotics.stackexchange.com/questions/113615/executable-spawner-py-not-found-on-the-libexec-directory-opt-ros-humble-lib
https://robotics.stackexchange.com/questions/112874/problem-with-controller-manager-waiting-for-service-controller-manager-list-con

ROSCon 2022 workshop on ros2_control
"ros2_control is a control framework for ROS2. But actually, it is much more, it is the kernel of the ROS2 system that controls robots:"

[JSDaleman]

@Growflavor I’ll prepare a README in English. I’ve gone through all your steps and will include important notes on modifying the setup for a custom MQTT broker, along with the various commands you can use for testing.

[JSDaleman]

In this repository, you will find detailed descriptions for each package as well as the logic behind every component: https://github.com/JSDaleman/ev3dev_ROS/tree/main.

[Growflavor]

Thank you for creating and sharing the ev3dev_ROS & ev3_mqtt_ros !

In case you would like to make a page for your project at https://www.ev3dev.org/projects/
"Here is the link to how you can create & submit your project page to be hosted at www.ev3dev.org/projects: https://www.ev3dev.org/docs/tutorials/adding-new-project/

Also, your github pages are quickly translated directly by the right click menu option:
"Translate to English"
of English language versions of chromium browsers like MS Edge & Google Chrome & Opera :-)

[JSDaleman]

I understand, but I prefer to offer an additional document specifically for English-speaking users :-) :
https://github.com/JSDaleman/ev3dev_ROS/blob/main/README_EN.md
https://github.com/JSDaleman/ev3_mqtt_ros/blob/main/README_EN.md

I will did the page to my proyect thanks :D q(≧▽≦q)