🤖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.

Using ROS on Raspberry Pi

Currently, it's recommended to install ROS using docker.

• install docker on Raspberry Pi (ref)

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

• run examples (see Examples for more)

rosrun opencat_examples opencat_examples_serial

Using ROS for remote control

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

Examples

• 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