https://github.com/Hongtai-Yuan/Microros_ROS2
The Microros chassis host program for our robot helps you communicate with the esp32 on the chassis and the microros control program on it.
https://github.com/Hongtai-Yuan/Microros_ROS2
esp32 microros microros-tutorial
Last synced: 9 months ago
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The Microros chassis host program for our robot helps you communicate with the esp32 on the chassis and the microros control program on it.
- Host: GitHub
- URL: https://github.com/Hongtai-Yuan/Microros_ROS2
- Owner: Y250HT
- Created: 2024-11-09T01:47:07.000Z (over 1 year ago)
- Default Branch: main
- Last Pushed: 2024-11-09T02:18:34.000Z (over 1 year ago)
- Last Synced: 2024-11-09T02:30:59.395Z (over 1 year ago)
- Topics: esp32, microros, microros-tutorial
- Language: C++
- Homepage:
- Size: 0 Bytes
- Stars: 1
- Watchers: 1
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
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README
# Microros_ROS2
The Microros chassis host program for our robot helps you communicate with the esp32 on the chassis and the microros control program on it.
## Install dependencies
```bash
cd ~/microros_ws_ros2/
rosdep update
rosdep install --from-paths src --ignore-src -r -y --rosdistro humble
colcon build
```
Maybe you'll need clash to speed things up, because microros programs need to clone other dependencies from github.
## If your chassis is connected via wifi
```bash
. install/setup.bash
ros2 run micro_ros_agent micro_ros_agent udp4 --port 8888 -v6
```
## If your chassis is connected through a serial port
```bash
sudo chmod 777 /dev/ttyACM*
. install/setup.bash
ros2 run micro_ros_agent micro_ros_agent serial -b 115200 --dev /dev/ttyACM0 -v6
```
## How to test
You can use teleop_twist_keyboard to test(ikjl,)
```bash
sudo apt-get install ros-humble-teleop*
ros2 run teleop_twist_keyboard teleop_twist_keyboard
```