🤖
ROS
ROS Interface
There's also a ROS wrapper for developpers to easily connect to the ROS environment. It is recommended to use ROS with Raspberry Pi.
Currently, it's recommended to install ROS using docker.
sudo apt-get update && sudo apt-get upgrade
curl -fsSL https://get.docker.com -o get-docker.sh
sudo sh get-docker.sh
sudo usermod -aG docker pi
# test installation
docker run hello-world
- prepare workspace
mkdir -p workspace/src
cd workspace/src
git clone https://github.com/PetoiCamp/ros_opencat
cd ros_opencat
git submodule init && git submodule update
cd ../../..
- run the container
docker run -v path/to/workspace:/workspace \
-it --rm --privileged --network host --name ros ros:noetic-robot
- source files and build inside the container
cd /workspace
source /opt/ros/noetic/setup.bash
catkin_makbase
source devel/setup.bash
rosrun opencat_examples opencat_examples_serial
Ros is designed with distributed computing in mind. Here's a simple example on how to run nodes on different machines.
- on host machine (usually more powerful than Raspberry Pi)
# launch server
roscore
- run service node on Raspberry Pi
export ROS_MASTER_URI=http://<Host_IP>:11311/
rosrun opencat_server opencat_service_node
- send command from host
rosrun opencat_examples opencat_examples_client_cpp
- using serial library
rosrun opencat_examples opencat_examples_serial
- using ROS service
# start core
roscore
# start service server
rosrun opencat_server opencat_service_node
# examples using oppencat ros service in C++
rosrun opencat_examples opencat_examples_client_cpp
# examples using opencat ros service in python
rosrun opencat_examples opencat_examples_client_py
Last modified 8mo ago