Jetbot ROS

Linux Version

jetson-nx-jp451-sd-card-image

Install ROS

Install ROS melodic

# enable all Ubuntu packages:
$ sudo apt-add-repository universe
$ sudo apt-add-repository multiverse
$ sudo apt-add-repository restricted

# add ROS repository to apt sources
$ sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
$ sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

# install ROS Base
$ sudo apt-get update
$ sudo apt-get install ros-melodic-ros-base

# add ROS paths to environment
$ sudo sh -c 'echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc'

Install python

# pip should be installed
$ sudo apt-get install python-pip
# install Adafruit libraries
$ pip install Adafruit-MotorHAT
$ pip install Adafruit-SSD1306

Add i2c too user

$ sudo usermod -aG i2c $USER

Create the catkin workspace

$ # create the catkin workspace
mkdir -p ~/workspace/catkin_ws/src
cd ~/workspace/catkin_ws
catkin_make

# add catkin_ws path to bashrc
sudo sh -c 'echo "source ~/workspace/catkin_ws/devel/setup.bash" >> ~/.bashrc'

Install Jetbot_ros

# git and cmake should be installed
sudo apt-get install git cmake
# clone the repo
cd ~/workspace/catkin_ws/src
git clone https://github.com/waveshare/jetbot_ros

# build the package
cd ../    # cd ~/workspace/catkin_ws
catkin_make

# confirm that jetbot_ros package can be found
rospack find jetbot_ros
/home/nvidia/workspace/catkin_ws/src/jetbot_ros

Test Jetbot_ros

$ roscore

Roscore

$ rosrun jetbot_ros jetbot_motors.py
$ rosnode list
$ rostopic list

Rosnode list