Use Case

Controller needs to be able to actuate the motor to drive the robot.

Acceptance Criteria

GIVEN an integrated mobile base and Motion Studio
WHEN the motors are commanded
THEN the will rotate.

Notes

This ticket does not include rotating accurately but should drive in the forward direction when commanded forward.
https://resources.basicmicro.com/dual-channel-roboclaw-quick-start-guide/

Use Case

To update ros and do other network operations, the hostname of the container should be in it's /etc/hosts file.

Acceptance Criteria

GIVEN the development container has just been launched
WHEN more /etc/hosts is run
THEN the hostname of the container will appear and be associated to localhost/127.0.0.1

Notes

Not sure how to do this but it could require changes to the run.sh script.

Use Case

In order to navigate in ROS2, there must be a ROS2 driver.

Acceptance Criteria

GIVEN an integrated mobile base running ROS2
WHEN publishing to the cmd_vel topic
THEN the robot will move at the commanded rate.

Notes

Use Case

Controller needs to be able to read motor encoders in order to command motors accurately.

Acceptance Criteria

GIVEN an integrated mobile base and Motion Studio
WHEN the motors are rotating forward or backwards
THEN encoder counts will increase or decrease.

Notes

This ticket does not include rotating accurately everything should be going in the right direction.
https://resources.basicmicro.com/dual-channel-roboclaw-quick-start-guide/

Use Case

Before porting code, it's a good idea to verify that it works, in case it doesn't and for something to compare to later.

Acceptance Criteria

GIVEN a tuned roboclaw and motors with encoders
AND the ROS1 driver is running
WHEN publishing to cmd_vel
THEN the motor should turn at the commanded rate

Notes

In ROS1, on the command line you can type

# rostopic pub -r 10 /cmd_vel geometry_msgs/Twist  '{linear:  {x: 0.1, y: 0.0, z: 0.0}, angular: {x: 0.0,y: 0.0,z: 0.0}}'

to send a velocity at 10 Hz.
The driver will try to command a differential drive base and not an individual motor, so if only one motor is available, some squinting might be invloved.

Use Case

Motor controller hardware needs to be tested with the motors to verify functionality.

Acceptance Criteria

GIVEN the motor controller is integrated with a charged mobile base
WHEN we command the individual motors
THEN the wheels will spin at the commanded rate.

Notes

For development, there is an extra roboclaw that won't be attached to the robot.
This epic does not cover integration with nav2.
Using RoboClaw ST 2x45A Motor Controller
Manual http://downloads.basicmicro.com/docs/roboclaw_user_manual.pdf
Downloads and links https://www.basicmicro.com/downloads

Use Case

c3pzero will be using the turtlebot3 lidar in it's first iteration.
ROS2 drivers and testing need to be done.

Acceptance Criteria

GIVEN the mobile base and turtlebot lidar
WHEN the robot is brought up
THEN rviz should be able to display the lidar scans.

Notes

https://emanual.robotis.com/docs/en/platform/turtlebot3/appendix_lds_01/ should show how to integrate the lidar.

Additionally https://navigation.ros.org/setup_guides/sensors/setup_sensors.html

Use Case

The motor controllers need to be tuned for the robot to drive accurately.

Acceptance Criteria

GIVEN an integrated mobile base
WHEN actuating the motors
THEN the motors will maintain commanded speed.

Notes

Velocity tuned PID is what we want.
Likely, autotuning will be enough.
https://resources.basicmicro.com/auto-tuning-with-motion-studio/
https://youtu.be/UsKsnQNgVQk

This ticket does not cover m/s, just using Motion Studio to command the motors.

Use Case

There needs to be a place to store custom configurations and code.

Acceptance Criteria

GIVEN a developer
WHEN we want to contribute to c3pzero
THEN there will be a existing package to make contributions to.

Notes

Use https://github.com/ros-planning/navigation2_tutorials/tree/master/sam_bot_description as a starting point and rename everything.

Possibly improvements would be to have a meta package and a bringup package but we can make those determinations when we come to them.

Use Case

In order to drive the robot, the motors, encoders, and batteries need to be connected to the motor controller.

Acceptance Criteria

GIVEN the mobile base and roboclaw
WHEN we want to test driving the robot
THEN the required components will be connected
AND smoke tested.

Notes

https://resources.basicmicro.com/roboclaw-basics/
https://resources.basicmicro.com/pololu-encoder-wiring/
https://resources.basicmicro.com/dual-channel-roboclaw-quick-start-guide/

Use Case

Before integrating nav2 with the hardware there are a number of required configuration steps that can be done first.

Acceptance Criteria

GIVEN an integrated mobile base
WHEN we want to navigate
THEN a bringup launch file and repo will be available

Notes

Use Case

As we're trying to use nav2, we need to have a ROS2 driver.

Acceptance Criteria

GIVEN a tuned roboclaw and motors with encoders
AND the ROS2 driver is running
WHEN publishing to cmd_vel
THEN the motor should turn at the commanded rate

Notes

If we publish this driver, we should publicly attribute who we ported it from, as we shouldn't be changing it to much in this phase.
Long term though (if there is such a thing) the code base would likely diverge.

Use Case

A number of python based ROS1 drivers exist for the roboclaw.
One of them needs to be chosen for porting as we're not developing from scratch.

Acceptance Criteria

GIVEN we have ported a roboclaw driver
WHEN we want to know why a particular ROS1 driver was chosen
THEN this ticket will briefly discuss the reviewed options
AND why that one was chosen.

Notes

Official driver https://github.com/sonyccd/roboclaw_ros
4-wheel version https://github.com/sheaffej/roboclaw_driver
SV-ROS version https://github.com/SV-ROS/roboclaw_driver

Use Case

Motor controller needs to be verified before being integrated, in case the units don't work.

Acceptance Criteria

GIVEN developers want to drive a dc motor
WHEN they want to use the roboclaw
THEN there will be known good hardware to use.

Notes

Both controllers need to be tested.

Tyler has a Windows computer for installing Motion Studio and a variable DC power supply
Jack has DC gearmotors with built-in quadrature encoders to test with.
The below tutorial reviews actuating the motors as well as reading the encoders.

Resources
https://resources.basicmicro.com/roboclaw-basics/
https://resources.basicmicro.com/dual-channel-roboclaw-quick-start-guide/