caddybot project for training
C:\> docker run -p 8080:80 -it --name ros2 tiryoh/ros2-desktop-vnc:humble
connect to localhost:8008 in the browser (Edge is better)
- update packages
$ sudo apt update && sudo apt upgrade
- git clone
$ git clone --recursive https://github.com/bosornd/caddybot.git
$ cd caddybot
- install dependencies
$ rosdep install --from-paths src --ignore-src --rosdistro humble -y
$ pip install pygame
$ pip install pyserial sparkfun-ublox-gps utm
- build
$ colcon build
$ source install/setup.bash
- build micro_ros_agent for MCU
$ ros2 run micro_ros_setup create_agent_ws.sh
$ ros2 run micro_ros_setup build_agent.sh
using terminal1(ROS2),
$ source install/setup.bash
$ ros2 launch caddybot bringup.py
- git clone
$ git clone --recursive https://github.com/bosornd/caddybot_mcu.git
$ cd caddybot_mcu
- install dependencies
$ rosdep install --from-paths src --ignore-src --rosdistro humble -y
- build
$ colcon build
$ source install/setup.bash
- build firmware
$ ros2 run micro_ros_setup create_firmware_ws.sh host
$ ros2 run micro_ros_setup build_firmware.sh
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}'
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