Control Moby with moby-ros2 package

How to run

1. Open terminal

2. Check ROS2 environment settings

In order for ROS2 packages to run, the required workspace must be loaded. You can use the command below to load the ros2_ws workspace where the moby-ros2 package was built in the Installation chapter.
```
source $HOME/ros2_ws/install/setup.bash
```
However, since the command above was added to the .bashrc file in the Installation chapter, the workspace will now be loaded automatically whenever you open a terminal.

3. Run Moby control node

To control Moby in ROS2, you need to run a control node that communicates with the Moby SW Framework. Additionally, for SLAM and navigation, you also need nodes to publish data from the mounted LiDAR and RGBD sensors as ROS2 topics.

The moby_bringup.launch.py file runs all the necessary nodes at once.

ros2 launch moby_bringup moby_bringup.launch.py launch_rviz:=true

Now, the RViz screen with the Moby model is displayed, and you can control the movement using a joystick.
- You can find the instructions on how to control using a joystick in Basic Operation.
You can visualize LiDAR, RGBD, and proximity sensor data by checking the boxes on the left side of the LaserScan, RealSense, and Proximity list in the RViz screen.

Sensors that can be visualized through the RViz screen

Automatic startup registration

The moby_bringup.launch.py file is a file that always needs to be run to control Moby in ROS2. You can register it to run automatically in the background whenever the power is turned on without having to run it every time, using systemd file registration.

Create a moby_bringup.service file in the systemd path using the nano editor.
```
sudo nano /etc/systemd/system/moby_bringup.service
```

Enter the following execution rules.

[Unit]
Description=Bringup Moby by Neuromeka

Wants=network.target
After=syslog.target network-online.target

[Service]
User=user
Type=simple

ExecStart=/bin/bash -c 'source /home/user/ros2_ws/install/setup.bash; ros2 launch moby_bringup moby_bringup.launch.py'
WorkingDirectory=/home/user
KillMode=process

[Install]
WantedBy=multi-user.target

The command entered in the ExecStart item will be executed at boot time. In the example above, a command to load the workspace and run the moby_bringup.launch.py file is entered.
Press Ctrl+X, Y, Enter in sequence to save.

To apply the added file and run the moby_bringup service in the background, execute the following command.

sudo systemctl daemon-reload \
&& sudo systemctl enable moby_bringup.service \
&& sudo systemctl start moby_bringup.service

The status of the moby_bringup service running in the background can be checked with the following command.
```
systemctl status moby_bringup
```
To stop the moby_bringup service running in the background, enter the following command.
```
sudo systemctl stop moby_bringup
```
You can check the real-time terminal output of the background service with the command below. To view all past records, simply run the command without the -f option.
```
jounarlctl -f -u moby_bringup
```

Configuration of moby_bringup.launch.py file

When moby_bringup.launch.py is executed, configuration information related to Moby-RP is loaded from the following path:
```
moby-ros2/moby_bringup/param/moby_config.yaml
```
The file configuration is as follows:

Name	Type	Description
moby_type	string	The type of Moby to be controlled. Currently, moby_rp is supported.
step_ip	string	The internal IP address of STEP3, which controls Moby. In Moby-RP, it is set to 192.168.214.20 by default.
use_gyro	bool	Determines whether to use the orientation information of the built-in gyro sensor for Moby's odometry calculation.
lidar_ip	dict	The IP address of the LiDAR sensor. In Moby-RP, the default setting is to use two LiDARs (front/rear), with each set to 192.168.214.10 and 192.168.214.11, respectively.
realsense_serial	dict	The serial number of the mounted RGBD sensor. There are four installed on Moby-RP (front/rear/left/right), and they are shipped with the corresponding serial number entered for each sensor.

When running moby_bringup.launch.py, you can specify the following options on the command line, depending on the situation:

Name	Type	Description	Default Value
name	string	Robot name	moby
prefix	string	Prefix for distinguishing each robot when using multiple robots	None
launch_rviz	bool	Whether to run the RViz screen	false
use_joypad	bool	Whether to run the joypad control	true

The main nodes executed in the moby_bringup.launch.py file and the main topics and features that each node publishes or subscribes to are as follows:

Name	Publishes	Subscribes	Function
front_lidar	/front_lidar/scan		Publishes front LiDAR data
rear_lidar	/rear_lidar/scan		Publishes rear LiDAR data
laserscan_multi_merger	/scan	/front_lidar/scan, /rear_lidar/scan	Merges front/rear LiDAR data into a single topic
front_camera	/front_camera/ depth/color/points		Publishes point cloud data of the front RGBD sensor
rear_camera	/rear_camera/ depth/color/points		Publishes point cloud data of the rear RGBD sensor
left_camera	/left_camera/ depth/color/points		Publishes point cloud data of the left RGBD sensor
right_camera	/right_camera/ depth/color/points		Publishes point cloud data of the right RGBD sensor
robot_state_publisher	/tf	/joint_states	Receives /joint_states and publishes kinematic results on /tf
moby_grpc	/imu, /odom_encoders	/cmd_vel	Drives Moby according to cmd_vel commands and publishes gyro sensor data and odometry results
ekf_filter_node	/odom	/imu, /odom_encoders	Applies EKF filter to gyro sensor data and odometry information to publish improved odometry
rviz2			Provides a graphical interface of the current situation through the RViz screen
joy_linux	/joy		Publishes joystick information to the /joy topic
console_controller	/cmd_vel	/joy	Publishes velocity commands according to the /joy topic