software:tortugabot_ros2
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| Both sides previous revisionPrevious revisionNext revision | Previous revision | ||
| software:tortugabot_ros2 [2025/04/03 09:06] – [Hokuyo Lidar] s_fuyedc | software:tortugabot_ros2 [2025/04/03 12:01] (current) – [Notes] s_fuyedc | ||
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| Line 205: | Line 205: | ||
| - | === Notes === | + | ===== Notes ===== |
| < | < | ||
| Line 214: | Line 214: | ||
| sudo apt update | sudo apt update | ||
| sudo apt upgrade | sudo apt upgrade | ||
| - | sudo apt install vim | + | nano .bashrc |
| - | vim .bashrc | + | |
| # into .bashrc | # into .bashrc | ||
| Line 229: | Line 228: | ||
| # Add user to dialout | # Add user to dialout | ||
| sudo adduser $USER dialout | sudo adduser $USER dialout | ||
| + | sudo adduser $USER roscourse | ||
| sudo adduser roscourse dialout | sudo adduser roscourse dialout | ||
| Line 240: | Line 240: | ||
| ### | ### | ||
| </ | </ | ||
| + | |||
| + | Install ROS tools, init rosdep and give sudo user arthur access to roscourse files. | ||
| < | < | ||
| - | # Set up workspace on turtle | + | # user: sudo |
| + | sudo apt install ros-dev-tools ros-jazzy-topic-tools | ||
| + | sudo rosdep init | ||
| + | </ | ||
| + | Set up workspace on turtle | ||
| + | |||
| + | < | ||
| + | # user: roscourse | ||
| mkdir -p ~/ | mkdir -p ~/ | ||
| cd ~/ | cd ~/ | ||
| </ | </ | ||
| - | < | + | Get repositories |
| - | # requires sudo user | + | |
| - | sudo apt install ros-dev-tools | + | |
| - | </ | + | |
| < | < | ||
| - | # Get repositories | + | # user: roscourse |
| curl https:// | curl https:// | ||
| - | # Clone repositories | ||
| vcs import --recursive < tortugabot.repos | vcs import --recursive < tortugabot.repos | ||
| + | rosdep update | ||
| </ | </ | ||
| + | Install dependencies | ||
| < | < | ||
| # user: sudo | # user: sudo | ||
| - | # allow sudo user arthur to see roscourse directories | + | rosdep install -i --from-path |
| - | sudo adduser arthur roscourse | + | |
| - | # sudo | + | |
| - | sudo rosdep init | + | |
| - | rosdep update | + | |
| - | rosdep install -i --from-path | + | |
| </ | </ | ||
| + | |||
| + | Build the workspace and source the executables. | ||
| < | < | ||
| # user: roscourse | # user: roscourse | ||
| - | # Build the workspace | + | cd ~/ |
| - | cd .. | + | |
| colcon build | colcon build | ||
| source install/ | source install/ | ||
| Line 290: | Line 293: | ||
| # laser | # laser | ||
| ros2 launch urg_node2 urg_node2.launch.py | ros2 launch urg_node2 urg_node2.launch.py | ||
| + | |||
| + | # Throttle laser frequency to 10 hz | ||
| + | ros2 run topic_tools throttle messages /scan 10.0 | ||
| # transform base_footprint < laser | # transform base_footprint < laser | ||
software/tortugabot_ros2.1743671166.txt.gz · Last modified: 2025/04/03 09:06 by s_fuyedc