ROS 學習系列 -- iRobot 第二代機座 Roomba 作爲Turtlebot使用時無法開關機

iRobot 推出了第二代機座 Roomba來取代Create.  這是一個綠臉的機座。

如果使用在turtlebot上，幾乎是完全兼容的，不用該什麼代碼，但是波特率提高了一倍，所以需要更改環境變量。但是在停止所以turtlebot的進程後，發現Roomba不再有任何反應，燈滅了，按任何按鈕都不管用，也無法充電，但是電池一直在放電。原因是退出進程時沒有進入到passive模式。在full模式和safe模式下，它就是這個反應。

1. 啓動turtlebot

   apt-get install turtlebot之後，執行下面的腳本來設置Roomba爲機座：

 

export TURTLEBOT_BASE=roomba
export TURTLEBOT_STACKS=circles
export TURTLEBOT_3D_SENSOR=asus_xtion_pro
export TURTLEBOT_SIMULATION=false
export TURTLEBOT_SERIAL_PORT=/dev/ttyUSB0
export ROS_IP=192.168.1.16

按下 Roomba中間的最大按鈕 “ＣLEＡＮ”, 執行下面的腳本啓動turtlebot

$ roslaunch turtlebot_bringup minimal.launch

此時發現，連接Roomba的USB口開始持續狂閃，一直不停。但是“ＣＬＥＡＮ”按鈕的燈滅了。這時按CTRＬ＋Ｃ終止，發現USB燈滅了，但是“ＣＬＥＡＮ”按鈕沒有恢復亮燈。無論怎麼操作都不管用，Roomba成了廢鐵。

2. 修改代碼

下載了turtlebot的代碼後，打開代碼文件 src/turtlebot_create/create_node/nodes/turtlebot_node.py, 增加一下幾行代碼。爲 class TurtlebotNode 添加一個函數：

def stop(self):
        self.robot.passive()

在 turtlebot_main 函數中添加最後一行   c.stop()：

def turtlebot_main(argv):
    c = TurtlebotNode()
    while not rospy.is_shutdown():
        try:
            # This sleep throttles reconnecting of the driver.  It
            # appears that pyserial does not properly release the file
            # descriptor for the USB port in the event that the Create is
            # unplugged from the laptop.  This file desecriptor prevents
            # the create from reassociating with the same USB port when it
            # is plugged back in.  The solution, for now, is to quickly
            # exit the driver and let roslaunch respawn the driver until
            # reconnection occurs.  However, it order to not do bad things
            # to the Create bootloader, and also to keep relaunching at a
            # minimum, we have a 3-second sleep.
            time.sleep(3.0)
            
            c.start()
            c.spin()

        except Exception as ex:
            msg = "Failed to contact device with error: [%s]. Please check that the Create is powered on and that the connector is plugged into the Create."%(ex)
            c._diagnostics.node_status(msg,"error")
            rospy.logerr(msg)

        finally:
            # Driver no longer connected, delete flag from disk
            try:
                os.remove(connected_file())
            except Exception: pass

    c.stop()

再次啓動turtlebot，然後關閉。Roomba就還可以正常使用了。

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