m5p3nc3r
c6d02bbe43
The ros controller will timeout if it doesn't receive a cmd_vel message in a given period, stopping the wheels. webui sends messages at 100ms intervals, so the update rate needs to be 10Hz This may need to be reviewed when using other input systems.
Raspbot-v2 modeling
Build
# Load the ros environment
. /opt/ros/kilted/setup.bash
# Ensure that all the ros package dependencies are installed
rosdep install -i --from-path src --rosdistro kilted -y
# Build the packages
colcon build --symlink-install
# Load local ros environment
. install/local_setup.bash
Launch
# Terminal 1
ros2 launch raspbot_v2 start_world.launch.py
# Terminal 2
ros2 run teleop_twist_keyboard teleop_twist_keyboard
TODO
- devcontainer
- Move rosdep install into base Dockerfle
- raspbot-v2
- ...
Notes
Understand container to container networking with dds
Untested, but this might be needed on host.
sudo sysctl -w net.core.rmem_max=4194304 net.core.wmem_max=4194304