Merge pull request #64 from westonrobot/feature-dev_kit

[Draft] Feature dev kit

source/robot_user_guide/robot_user_guide.rst

@@ -14,6 +14,7 @@ Here you can find user guides giving detailed information about a specific robot
    /robot_user_guide/ugv
    /robot_user_guide/quadruped
    /robot_user_guide/manipulators
+   /robot_user_guide/wr_dev_kit
 
 
 

source/robot_user_guide/westonrobot/dev_kit_base.rst

@@ -0,0 +1,115 @@
+************
+Dev Kit Base
+************
+
+.. Revision History
+.. ================
+
+.. +----------+-------------------+----------+------------------------------------------------------+
+.. | Revision | Date (DD/MM/YYYY) | Author   | Changes                                              |
+.. +==========+===================+==========+======================================================+
+.. | 1        | 17/4/2024         | Kang Wei | Initial release                                      |
+.. +----------+-------------------+----------+------------------------------------------------------+
+
+1. Overview
+===========
+
+This Dev Kit base, together with a robot base, serves as the fundamental building block of a robot. 
+Sensors can then be added based on the user's application requirements.
+
+STEP files for the main frame is provided for users to customise their own sensors and configurations.
+
+2. Specifications
+=================
+
+This Dev Kit base consists of the following pre-configured components:
+
+NanoPC-T6 with Expansion Board
+------------------------------
+Octa-core ARM SBC with expansion board connects to the base and power regulator via CAN.
+
+- Specifications:
+    - Expansion board interfaces:
+        - 3 x CAN
+        - 2 x RS232
+        - 2 x RS485
+        - 1 x I2C
+
+    - NanoPC-T6:
+        - CPU: Rockchip RK3588
+        - RAM: 8GB
+        - Storage: 64GB eMMC
+        - OS: Ubuntu 22.04
+
+- Configuration:
+    - user: wr
+    - password: @westonrobot.com
+    - ip address: 10.10.0.20
+
+For more details on the SBC refer to:
+https://wiki.friendlyelec.com/wiki/index.php/NanoPC-T6
+
+5G Router
+---------
+5G router with dual-SIM and dual-band Wi-Fi. Router is pre-configured on delivery. Users can change the configuration as needed.
+
+- Specifications:
+    - 3 x LAN
+    - 1 x WAN
+    - Dual-SIM 5G
+    - Dual-band Wi-Fi
+
+- Network configuration:
+    - LAN:
+        - Subnet: 10.10.0.1/24
+        - Gateway: 10.10.0.1
+
+    - WIFI:
+        - SSID: `[configured on delivery]`
+        - Password: `@westonrobot.com`
+
+    - Admin:
+        - Username: `admin`
+        - Password: `westonrobot[last 2 digits of purchase year]`
+
+Power Regulator
+---------------
+Refer to:
+    - :doc:`Weston Robot Power Regulator V2.X <../../periph_user_guide/westonrobot/power_regulator_v2.X>`
+
+3. Resources
+============
+
+* STEP File: `wr_devkit_frame.step <https://tangrobot.sharepoint.com/:u:/s/Public-Outgoing/ESSh3kSet7lIrA2GDZ5hRpcBTJ-IbYX12QVHbQfLOz-1jg?e=qeuPiG>`_
+
+* NanoPC-T6 image: *Available soon*
+
+4. Usage
+========
+
+The Dev Kit base is expected to be used with robot base and sensors.
+Refer to the steps below to control the robot base via /cmd_vel topic.
+
+Bringup CAN interface
+---------------------
+
+.. code-block:: bash
+
+    sudo ip link set can0 type can bitrate 500000
+    sudo ip link set can0 txqueuelen 1000 # optional to increase tx buffer
+    sudo ip link set can0 up
+
+Refer to relevant ROS2 drivers for usage
+----------------------------------------
+- `Ranger/ Ranger Mini 2.0 <https://github.com/westonrobot/ranger_ros2>`_
+- `Scout/ Scout Mini <https://github.com/westonrobot/scout_ros2>`_
+
+Publish velocity command
+------------------------
+
+.. code-block:: bash
+
+    ros2 topic pub /cmd_vel geometry_msgs/msg/Twist '{linear: {x: 0.1, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 0.0}}' -1
+
+    # or use teleop_twist_keyboard
+    ros2 run teleop_twist_keyboard teleop_twist_keyboard

source/robot_user_guide/westonrobot/dev_kit_mid360.rst

@@ -0,0 +1,53 @@
+************************
+Livox MID-360 Sensor Kit
+************************
+
+.. Revision History
+.. ================
+
+.. +----------+-------------------+----------+------------------------------------------------------+
+.. | Revision | Date (DD/MM/YYYY) | Author   | Changes                                              |
+.. +==========+===================+==========+======================================================+
+.. | 1        | 17/4/2024         | Kang Wei | Initial release                                      |
+.. +----------+-------------------+----------+------------------------------------------------------+
+
+1. Overview
+===========
+
+This sensor kit mounts the Livox MID-360 LiDAR and a 9-axis IMU onto the base development kit for mapping and navigation capabilities.
+
+2. Specifications
+=================
+
+This sensor kit consists of the following pre-configured components:
+
+Livox MID-360 LiDAR
+-------------------
+Livox compact, lightweight LiDAR
+
+- Configuration:
+    - ip address: 10.10.0.30
+    - host_ip: 10.10.0.20 
+
+*host_ip refers to IP address of computer to send to*
+
+Hipnuc IMU
+----------
+Hipnuc IMU supported by wrp_ros2 driver
+
+- Specifications:
+    - 9 Axis
+    - USB2.0
+
+3. Resources
+============
+
+* Livox MID-360 Manual: *Available soon*
+
+4. Usage
+========
+
+**Sample** setups are provided for users to reference and build upon.
+
+    - `LIO-SAM <https://github.com/westonrobot/wr_devkit_mapping>`_
+    - `Nav2 <https://github.com/westonrobot/wr_devkit_navigation>`_

source/robot_user_guide/westonrobot/dev_kit_ultrasonic.rst

@@ -0,0 +1,44 @@
+*********************
+Ultrasonic Sensor Kit
+*********************
+
+Revision History
+================
+
++----------+-------------------+----------+------------------------------------------------------+
+| Revision | Date (DD/MM/YYYY) | Author   | Changes                                              |
++==========+===================+==========+======================================================+
+| 1        | 17/4/2024         | Kang Wei | Initial release                                      |
++----------+-------------------+----------+------------------------------------------------------+
+
+1. Overview
+===========
+
+This sensor kit mounts a set of 8 W200D ultrasonic sensors.
+The ultrasonic sensor positions are dependent on robot base.
+
+2. Specifications
+=================
+
+Controller
+----------
+- Specifications
+    - Interface: RS232
+    - Voltage: 10-38V
+    - Supports up to 8x ultrasonic sensors
+
+W200D Ultrasonic Sensor
+-----------------
+- Specifications
+    - Minimum warning range: 0.05m
+    - Minimum measurement range: 0.2m
+    - Update rate: 10Hz
+
+3. Resources
+============
+
+4. Usage
+========
+
+Refer to:
+    - `wrp_ros2/peripheral` <https://github.com/westonrobot/wrp_ros2/tree/main/src/peripheral>`_

source/robot_user_guide/wr_dev_kit.rst

@@ -0,0 +1,10 @@
+******************
+WR Development Kit
+******************
+
+.. toctree::
+   :maxdepth: 1
+
+   /robot_user_guide/westonrobot/dev_kit_base
+   /robot_user_guide/westonrobot/dev_kit_mid360
+..    /robot_user_guide/westonrobot/dev_kit_ultrasonic