houhongyi / roborts_base

RoboRTS-Base

This repo provides latest ROS driver for RoboMaster AI Robot 2019/2020.

1. Install dependencies

Before running AI Robot ROS driver, ROS and some dependencies must be installed.

1.1 ROS installation

For ROS installation, please refer to ROS Installation Guide

1.2 dependencies installation

After ROS installation, run the following command to install some ROS packages and google-glog library:

sudo apt-get update && sudo apt-get install -y --no-install-recommends \
     ros-${ROS_DISTRO}-tf ros-${ROS_DISTRO}-nav-msgs ros-${ROS_DISTRO}-geometry-msgs libgoogle-glog-dev

2. Build

1. Get RoboRTS-Base from GitHub :

git clone https://github.com/RoboMaster/RoboRTS-Base.git catkin_ws/src

2. Use the following command to build the package

cd catkin_ws
catkin_make

3. Configuration

1. Create the udev rule file:

./src/scripts/udev.sh create

2. Verify the udev rule file:

./src/scripts/udev.sh check

3. Connect the AI Robot through USB cable from Chassis Development Board Type C, then check the status of device connection:

./src/scripts/udev.sh status

4. Run

Run the following command to run the driver node from launch file:

source devel/setup.bash
roslaunch roborts_base base.launch

5. Run in the Docker Conatiner

Refer to Docker Conatiner Document

6. Node API

Refer to Node API Document

7. Related Repo

1. Perception/Navigation/Decision Stack Repo: RoboRTS

2. Embedded STM32 Code Repo: RoboRTS-Firmware

8. Support

You can get support from RoboMaster with the following methods :

• Send email to [email protected] with a clear description of your problem and your setup
• Report issue on github

9. Copyright and License

RoboRTS-Base is provided under the GPL-v3.