m5p3nc3r
ec554bcf2c
Uses the mecanum controller properly across physical and virtual There is a timing issue with i2c which is why the control update is limited to 10hz The sonar and LED's arent yet working, this will come soon.
46 lines
764 B
Markdown
46 lines
764 B
Markdown
# Raspbot-v2 modeling
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## Build
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```bash
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# Load the ros environment
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. /opt/ros/kilted/setup.bash
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# Ensure that all the ros package dependencies are installed
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rosdep install -i --from-path src --rosdistro kilted -y
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# Build the packages
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colcon build --symlink-install
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# Load local ros environment
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. install/local_setup.bash
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```
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## Launch
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```bash
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# Terminal 1
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ros2 launch raspbot_v2 start_world.launch.py
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# Terminal 2
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ros2 run teleop_twist_keyboard teleop_twist_keyboard
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```
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## TODO
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- devcontainer
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- Move rosdep install into base Dockerfle
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- raspbot-v2
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- ...
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## Notes
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### Understand container to container networking with dds
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Untested, but this might be needed on host.
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```bash
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sudo sysctl -w net.core.rmem_max=4194304 net.core.wmem_max=4194304
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``` |