Difference between revisions of "Jetbot ROS"
From ESS-WIKI
m |
|||
| Line 70: | Line 70: | ||
<pre>$ roscore | <pre>$ roscore | ||
</pre> | </pre> | ||
| − | [[File:Roscore.png|thumb|left]] | + | |
| + | {| border="1" cellpadding="1" style="width:300px;" | ||
| + | |- | ||
| + | | style="width: 389px; background-color: rgb(80, 80, 80); color: rgb(255, 255, 255); text-align: center;" | Roscore | ||
| + | |- | ||
| + | | style="text-align: center;" | [[File:Roscore.png|300px|thumb|left]] | ||
| + | |} | ||
| + | |||
| + | <pre>$ rosrun jetbot_ros jetbot_motors.py | ||
| + | $ rosnode list | ||
| + | $ rostopic list | ||
| + | </pre> | ||
| + | |||
| + | {| border="1" cellpadding="1" style="width:300px;" | ||
| + | |- | ||
| + | | style="width: 389px; background-color: rgb(80, 80, 80); color: rgb(255, 255, 255); text-align: center;" | Rosnode list | ||
| + | |- | ||
| + | | style="text-align: center;" | [[File:Rosnode list.png|300px|thumb|left]] | ||
| + | |} | ||
Revision as of 03:44, 23 November 2022
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 |
