A homemade mecanum wheels based robot car, running Robot OS on a Raspberry Pi, with an additional STM32 board, dedicated to motors & making possible to drive the car with a PS2 controller.
This repository gathers the Raspberry Pi files, a.k.a. the ROS car application (RCAP).
- sudo apt-get update
- sudo apt-get upgrade
- sudo apt-get install vim pyyaml
- sudo apt-get install libssl-dev
- sudo apt-get install i2c-tools libi2c-dev smbus
- sudo apt-get install curl gnupg2 lsb-release
- sudo apt-get install libpython3-dev python3-pip
- sudo pip3 install transforms3d
- sudo ufw disable
- sudo ifconfig enp0s8 192.168.1.45
- sudo route add default gw 192.168.1.254 enp0s8
- sudo /etc/init.d/networking restart
- sudo apt-get openssh-server
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sudo apt-get install tightvncserver
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tightvncserver
Enter and confirm password Enter no view-only password
- sudo vim /etc/systemd/system/tightvncserver.service
[Unit] Description=TightVNC remote desktop server
After=sshd.service[Service] Type=dbus ExecStart=/usr/bin/tightvncserver :1 User=pi Type=forking
[Install] WantedBy=multi-user.target
- sudo chown root:root /etc/systemd/system/tightvncserver.service
- sudo chmod 755 /etc/systemd/system/tightvncserver.service
- sudo systemctl start tightvncserver.service
- sudo systemctl status tightvncserver.service
- sudo systemctl enable tightvncserver.service
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sudo systemctl disable hciuart
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sudo systemctl disable hciuart.service
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sudo systemctl disable bluetooth.service
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sudo systemctl stop serial-getty@ttyS0.service
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sudo systemctl disable serial-getty@ttyS0.service
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sudo systemctl mask serial-getty@ttyS0.service
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sudo usermod -a -G dialout pi
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sudo usermod -a -G tty pi
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sudo vim /boot/firmware/usercfg.txt
enable_uart=1 dtoverlay=disable-bt
- sudo vim /boot/firmware/cmdline.txt
Remove any "console=ttyAMA0,115200", if found
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sudo apt-get install locales
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sudo locale-gen en_US en_US.UTF-8
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sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
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export LANG=en_US.UTF-8
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locale
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sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
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echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
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sudo apt-get update
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sudo apt-get install python3-rospkg
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sudo apt-get install ros-galactic-desktop
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sudo apt-get install ros-galactic-teleop-twist-keyboard
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sudo apt-get install ros-galactic-tf2-tools ros-galactic-tf-transformations
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echo "source /opt/ros/galactic/setup.bash" >> ~/.bashrc
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source ~/.bashrc
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rosversion --distro
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ros2 doctor --report
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ros2 run demo_nodes_cpp talker &
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ros2 run demo_nodes_cpp listener &
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killall talker listener
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ls -l /dev | grep ttyUSB
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sudo chmod 666 /dev/ttyUSB0
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cd rplidar_ros
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git checkout ros2
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colcon build --symlink-install
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source install/setup.bash
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ros2 run tf2_ros static_transform_publisher 0 0 0 0 0 0 map laser &
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ros2 launch rplidar_ros view_rplidar.launch.py &
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rviz2 -d rviz/rplidar_ros2.rviz
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i2cdetect -y 1
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cd tools
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python3 calibrate_imu.py
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sudo apt-get install ros-galactic-navigation2
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sudo apt-get install ros-galactic-nav2-bringup
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sudo apt-get install ros-galactic-slam-toolbox
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sudo apt-get install ros-galactic-robot-localization
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sudo apt-get install ros-galactic-joint-state-publisher-gui
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sudo apt-get install ros-galactic-rqt-robot-steering
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sudo apt-get install ros-galactic-xacro
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ros2 launch rcap rcap.vm.display.launch.py
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rviz2 -d config.simulation.rviz
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ros2 launch slam_toolbox online_async_launch.py
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ros2 launch nav2_bringup navigation_launch.py
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ros2 launch nav2_bringup navigation_launch.py params_file:=/home/stef/RCAP/robot_car/config/nav2.simulation.yaml
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ros2 run nav2_costmap_2d nav2_costmap_2d_markers voxel_grid:=/local_costmap/voxel_grid visualization_marker:=/my_marker
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rqt_robot_steering --force-discover
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ros2 run teleop_twist_keyboard teleop_twist_keyboard
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ros2 topic pub /goal_pose geometry_msgs/PoseStamped '{header: {stamp: {sec: 0, nanosec: 0}, frame_id: "map"}, pose: {position: {x: 1.0, y: 0.0, z: 0.0}, orientation: {w: 1.0}}}' -1
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ros2 topic echo /goal_pose
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ros2 run joint_state_publisher_gui joint_state_publisher_gui description/robot_car.urdf
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ros2 run tf2_ros static_transform_publisher 0 0 0 3.14 0 0 base_link lidar_link
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ros2 run teleop_twist_keyboard teleop_twist_keyboard
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rqt_graph
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ros2 run tf2_tools view_frames
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xdg-open frames.pdf
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sudo service apport stop