RTTF cardrivers (ROS2)

cardrivers container

Installation

0. Install 64-bit version of Raspberry Pi OS
1. Clone repo on RPi
2. cd rttf-car-ros2/cardrivers
3. ./00_build.sh
4. ./01_run.sh or docker start rttf-cardrivers-ros2 (depending if it already exists)
5. ./02_attach.sh
6. ./rebuild_ros.sh (just to be sure, should done automatically)
7. (optional) ros2 run wheels_driver wheels_driver or in the /home/scripts execute ./wheels_driver.sh (listens for commands and executes commands on car)
8. (optional) ros2 run camera_driver camera_driver or in the /home/scripts execute ./camera_driver.sh (starts publishing camera images)
9. (optional) ros2 run dummy_driver reckless_driver or in the /home/scripts execute ./dummy_driver.sh (accelerates for 5 seconds & quits)

Other

There's a start for a 'launch all script' ros2 launch car_drivers all_drivers.launch.py Should work now, since camera driver was fixed. Not tested yet.

Troubleshooting

colcon build produces error related to the custom WheelCmd msg.

• Solution: rm -rf build/ install/ log/ + colcon build
• Should not happen anymore, above folders are no longer included in repo and must be built the first time

dashboard container

Setup

1. Run scripts 00, 01 and 02 to build, run and attach to the container.
2. Launch the rosbridge node ros2 launch rosbridge_server rosbridge_websocket_launch.xml
3. Launch the Node.js app that serves the dashboard (very basic so far) cd /home/app and npm start
4. Visit localhost:3000 and watch it connect (console messages for now). Replace localhost with the proper IP address when connecting from other device in the same network.

Remarks

The script on the website subscribes to the image topic of the car. (/camera_node/image/compressed) This was tested with the camera publishing from the cardrivers container.

Bugs

Probably

docker compose

Starts up everything at once.