caddybot

caddybot project for training

ros2 vnc environment

C:\> docker run -p 8080:80 -it --name ros2 tiryoh/ros2-desktop-vnc:humble

connect to localhost:8008 in the browser (Edge is better)

build

1. update packages

$ sudo apt update && sudo apt upgrade

2. git clone

$ git clone --recursive https://github.com/bosornd/caddybot.git
$ cd caddybot

3. install dependencies

$ rosdep install --from-paths src --ignore-src --rosdistro humble -y

$ pip install pygame
$ pip install pyserial sparkfun-ublox-gps utm

4. build

$ colcon build
$ source install/setup.bash

5. build micro_ros_agent for MCU

$ ros2 run micro_ros_setup create_agent_ws.sh
$ ros2 run micro_ros_setup build_agent.sh

launch

using terminal1(ROS2),

$ source install/setup.bash
$ ros2 launch caddybot bringup.py

build MCU

1. git clone

$ git clone --recursive https://github.com/bosornd/caddybot_mcu.git
$ cd caddybot_mcu

2. install dependencies

$ rosdep install --from-paths src --ignore-src --rosdistro humble -y

3. build

$ colcon build
$ source install/setup.bash

4. build firmware

$ ros2 run micro_ros_setup create_firmware_ws.sh host
$ ros2 run micro_ros_setup build_firmware.sh

launch MCU

using terminal2(micro-ROS),

$ source install/setup.bash
$ ros2 launch caddybot_mcu mcu.py

using termianal3(ROS2), publishing a Velocity topic confirms that it is delivered to MCU via micro_ros_agent.

$ source install/setup.bash
$ ros2 topic pub --once /velocity caddybot_msgs/msg/Velocity '{speed: 0.8, angle: 0.0}'

architecture