gcamp-ros2-seminar

마곡 AI 로봇 해커톤 中 ROS 2(Robot Operating System) 로봇 제작 기술워크숍 세미나 자료

Seminar link : Seoul MakerSpace G Camp

Running Environment

• Jetson Nano 4GB Dev Kit
• Jetpack 4.6
• ROS 2 Eloquent

ROS 2 Basic Examples

This Repo contains mainly two parts.

• ROS 2 Basic & rclpy Programming Examples => basic_topic_pkg
• ROS 2 autonomous Robot based on Popular RC Car => MaRo

1) ROS 2 Basic Programming

There's 6 rclpy scripts for Node programming, And also 3 for Topic programming

1. My First ROS 2 Node.
2. Run Node periodically by create_timer.
3. About rclpy.spin.
4. ROS 2 Node Composition.
5. Node Composition with create_timer.
6. ROS 2 Node logger level.

How to Run

ros2 run basic_topic_pkg example_node_<number>

Moreover, There's 3 rclpy scripts for ROS 2 Topic programming.

1. Publish cmd_vel message to turtlesim through topic publisher
2. Subscribe turtlesim's pose message and analize about message type.
3. Small Project, Make turtle2 mimic turtle1 using publisher & subscriber both.

How to Run

ros2 run basic_topic_pkg topic_pub_node
ros2 run basic_topic_pkg topic_sub_node
ros2 run basic_topic_pkg topic_pub_sub_node

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2) ROS 2 autonomous Robot - MaRo

Setup - Hardware

There's Full BOM for MaRo in Parts folder. And also you can find custom stl, dxf files in there.

Lastly, Even there's Assembly Guide for MaRo. Please refer this notion page.

Setup - Software

All Setups are prepared through shell scripts. Just Run that 😁

Shell Scripts in Setup Folder

• ai_demo_setup.sh => Install prerequisites for ROS 2 Deep Learning Node
• parts_install.sh => Install python3 packages control RC Car
• ros2_setup.sh => Install ROS 2 onto Jetpack 4.6
• utils_setup.sh => Install few usefull utilities / Setup aliases for developing
• vscode_install.sh => Install VSCode for Jetpack 4.6

Most of above scripts are referneced from JetsonHacks

Always Thank you, Mr. Jim !!

Run Examples

There's mainly 4 ROS 2 applications for MaRo. All packages are prepared for autonomous driving.

1. RQT Control Plugin for MaRo
2. 2D Lidar to odometry
3. 2D Lidar SLAM (slam_toolbox)
4. Autonomous Driving with Nav 2

RQT Control Plugin for MaRo

Based on rqt_robot_steering plugin, I recreated that for MaRo.

myAHRS+ ROS 2 package

• this package is referenced from CLOBOT-Co-Ltd

TODO

• Fully support for Nav 2