directory structure

catkin_ws -- ros projects for turtlebot
ros_worksapce -- ros project for rosbot

1. Launch single robot at boot on turtlebot node

Preparation: update firewaree and software on turtlebot

refer to section 3 How to update

Autostart by robot_upstart

Tutorial

1. refer to make a roslaunch start on boot (robot_upstart) or [local file](docs/make roslaunch start at boot (robot_upstart).pdf)
2. robot_upstart wiki

Shell commands

1. auto start turtlebot3 at boot on turtlebot

   $ rosrun robot_upstart install turtlebot3_bringup/launch/turtlebot3_robot.launch --job start_robot --user waffle --interface wlan0 --master http://192.168.3.89:11311 --logdir /home/waffle/logs --symlink
   $ sudo systemctl daemon-reload
   $ sudo systemctl start start_robot
   

Autostart by systemd service (works for single robot, not multiple robot)

1. refer to Autostart service after system boot

2. edit sh to run roslaunch robot

   #!/bin/bash
   machine_ip=('hostname -I')
   export ROS_IP=${machine_ip[0]}
   
   export ROS_HOSTNAME=192.168.3.90
   
   export ROS_MASTER_URI=http://192.168.3.89:11311
   
   export TURTLEBOT3_MODEL=waffle_pi
   
   source /opt/ros/kinetic/setup.bash
   source /home/waffle/catkin_ws/devel/setup.sh
   
   roslaunch turtlebot3_bringup turtlebot3_robot.launch
   

3. deploy service to start robot at boot

   [Unit]
   Description=Auto-start Robot Service
   
   [Service]
   Type=idle
   User=waffle
   Group=waffle
   ExecStart=/home/waffle/start_robot/startup_launch.sh
   Restart=on-failure
   RestartSec=10
   
   [Install]
   WantedBy=multi-user.target
   

2. Multirobot Model Launch

2.1 Turtelbot

video tutourial and demo project

manually launch each turtlebot node

$ ROS_NAMESPACE=tb3_0 roslaunch turtlebot3_bringup turtlebot3_robot.launch multi_robot_name:="tb3_0" set_lidar_frame_id:="tb3_0/base_scan"

which will add ros nodes:

/tb3_0/turtlebot3_core
/tb3_0/turtlebot3_diagnostics
/tb3_0/turtlebot3_lds

auto launch each trutlebot node by robot_startup rospackage

make startrobot service

1. create or copy ros project launch_robot under ~/catkin_ws/src/

 ```
 $ catkin_create_pkg launch_robot
 $ mkdir launch
 $ nano launch_robot_with_name.launch
 
 #edit launch_robot_with_name.launch
 <?xml version="1.0"?>
 <launch>
   <include file="$(find turtlebot3_bringup)/launch/turtlebot3_robot.launch">          
   <arg name="multi_robot_name" value="$(env ROS_NAMESPACE)" />
   <arg name="set_lidar_frame_id" value="$(env ROS_NAMESPACE)/base_scan" />
   </include>
 </launch>
 ```

 **NOTE: it is crisis to set ROS_NAMESPACE in /usr/sbin/start_robot-start**

2. create robot_upstart job

 ```
 $ rosrun robot_upstart install launch_robot/launch/launch_robot_with_name.launch --job startrobot --user waffle --interface wlan0 --master http://192.168.3.89:11311 --logdir /home/waffle/logs --symlink
 ```

​

3. sudo nano /usr/sbin/startrobot-start

 see [startrobot-start](startrobot-start)

 ```
 #add or modify after:
 export ROS_MASTER_URI=http://192.168.3.89:11311
 export ROS_HOME=${ROS_HOME:=$(echo ~waffle)/.ros}
 export ROS_LOG_DIR=$log_path
 export ROS_HOSTNAME=192.168.3.90
 export ROS_NAMESPACE="tb3_0"
 export ROS_IP=192.168.3.90
 
 #add para --wait in the line:
 # Punch it.
 setuidgid waffle roslaunch --wait &LAUNCH_FILENAME &
 PID=$!
 ```

4. sudo nano /lib/systemd/system/startrobot.service

 ```
 [Unit]
 Description="bringup startrobot"
 After=network.target

 [Service]
 Type=idle
 ExecStartPre=/bin/sleep 60 
 ExecStart=/usr/sbin/startrobot-start

 [Install]
 WantedBy=multi-user.target
 ```

5. sudo systemctl daemon-reload && sudo systemctl start startrobot`

make monitor service to reboot startrobot service if failed

1. create or copy monitor scripts

2. create or copy monitor.service

3. enalbe and start it

cp monitor.service /lib/systemd/system/monitor.service
sudo systemctl daemon-reload
sudo systemctl enable monitor.service
sudo systemctl start monitor.service

monitor service ouput

sudo journalctl -e -u monitor.service

2.2 rosbot

auto launch each rosbot node by robot_startup rospackage

install robot-upstart pakcage in Melodic

sudo apt-get install ros-melodic-robot-upstart

if failed, consider to change the ros sources as ROS Melodic 版本安装+将ROS的源设置为国内的源

make startrobot service

1. create or copy ros project launch_robot under ~/ros_workspace/src/

 ```
 catkin_create_pkg launch_rosbot
 roscd launch_rosbot
 cp -r repository/launch_rosbot/* .
 
 #launch_rosbot_with_name.launch
<?xml version="1.0"?>
 <launch>
   <include file="$(find launch_rosbot)/launch/start_namesapce.launch">          
     <arg name="robot_namespace" value="rosbot1" />
   </include>
 </launch>
 ```

 **NOTE: no need to set ROS_NAME in /usr/sbin/start_robot-start**
 **NOTE: by this luanch_rosbot_with_name.launch, lidar, amcl and movebase will be launched locally. In robotcontroller service at master node side, only need to start map_server, like start_rosbot_only_map.launch** 

2. create robot_upstart job

 ```
 $ rosrun robot_upstart install launch_rosbot/launch/launch_rosbot_with_name.launch --job startrobot --user husarion --interface wlan0 --master http://192.168.3.89:11311 --logdir /home/husarion/logs --symlink
 ```

3. sudo nano /usr/sbin/startrobot-start

   see startrobot-start.rosbot

#add or modify after:
log_path="/home/husarion/logs"

export ROS_IP=`rosrun robot_upstart getifip wlx70f11c32f38a`

export ROS_MASTER_URI=http://192.168.3.118:11311
export ROS_HOME=${ROS_HOME:=$(echo ~husarion)/.ros}
export ROS_LOG_DIR=$log_path
export ROS_HOSTNAME=192.168.3.154
#export ROS_NAME="rosbot1" ###remember not ROS_NAMESPACE
export ROS_IP=192.168.3.154
chmod 666 /dev/ttyS4 ###critical to open the access right

 
 #add para --wait in the line:
 # Punch it.
 setuidgid waffle roslaunch --wait &LAUNCH_FILENAME &
 PID=$!
 ```

4. sudo nano /lib/systemd/system/startrobot.service

   see startrobot.service.rosbot

[Unit]
Description="bringup startrobot"
After=network.target

[Service]
Type=idle
ExecStartPre=/bin/sleep 10
ExecStart=/usr/sbin/startrobot-start

[Install]
WantedBy=multi-user.target

5. sudo systemctl daemon-reload && sudo systemctl start startrobot`

launch rosbot

launch slam

roslaunch multi_rosbot_nav slam.launch
#### slam.launch - slam rviz, teleop

roslaunch multi_rosbot_nav slam_norvz.launch
roslaunch tele.launch
####slam_norva.launch - slam, no rviz, no teleop

launch navigation

1. launch local model with map server

roslaunch multi_rosbot_nav nav_rosbot1.launch

2. launch mulit-nodes mode 2.1 at master node 192.168.28.11 (need catkin_make in ~/catkin_ws to make the multirobot_nv in ~/catkin_make/src )

roscore
roslaunch multirobot_nv start_rosbot_only_map.launch  

2.2 at robot mode

roslaunch launch_rosbot launch_rosbot_with_name.launch

3. validate 3.1 check the tf tree

rosrun tf view_frames

3.2 check the map location

python ~/projects/multisense/rosbot2/locate.py

3.3  stop lipradar motor

rosservice call /rosbot1/stop_motor