nifleysnifley / rover2024

ROS2 Based Rover

On the development computer:

• ./build_robot_container.sh creates the docker container (make sure to rm -rf the build and install directories if already build locally)
• rosdep install --from-paths src -y --ignore-src to install dependencies
• colcon build from root directory to build

On the driver station:

• sudo apt install ros-iron-spacenav and then ros2 run spacenav spacenav_node for SpaceMouse control
• sudo apt install ros-iron-joy-teleop and then ros2 launch teleop_twist_joy teleop-launch.py joy_config:='xbox' for teleop control with an Xbox controller
• For image viewing, use rqt, but first you need to install some compression plugins for smooth video: sudo apt install ros-iron-compressed-image-transport ros-iron-image-transport-plugins
• The best way to do graphs is with plotjuggler. sudo apt install ros-iron-plotjuggler-ros and to run it, ros2 run plotjuggler plotjuggler

On the robot:

• Command for running docker container with robot code: docker run -it --net host --ipc host --pid host --rm --privileged -v /dev/NavX_IMU:/dev/NavX_IMU nifleysnifley/rover2024 "/bin/bash"
• To pull docker container: docker pull nifleysnifley/rover2024