Scale Truck Control

Hardware

Nvidia Jetson Xavier (18.04 LTS - JetPack 4.5.1)
USB Camera (Camera)
RPLidar A3 (Lidar)
OpenCR 1.0 (ARM)

1. Install ROS (melodic)

http://wiki.ros.org/melodic/Installation/Ubuntu

1.1 Setup your sources.list

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

1.2 Set up your keys

sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

1.3 Installation

sudo apt update   
sudo apt install ros-melodic-desktop-full

1.4 Environment setup

echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
source ~/.bashrc
source /opt/ros/melodic/setup.bash

1.5 Dependencies for building packages

python 2.7

sudo apt install python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential
sudo apt install python-rosdep
sudo rosdep init
rosdep update

python 3.6

sudo apt-get install python3-pip python3-yaml
sudo pip3 install rospkg catkin_pkg

1.6 Create a ROS Workspace

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/
catkin_make

python3 option

catkin_make -DPYTHON_EXECUTABLE=/usr/bin/python3

2. Setup ROS Packages

2.1 scale_truck_control

git clone https://github.com/HyeonGyu-Lee/scale_truck_control.git 

2.2 geometry_msgs

git clone https://github.com/ros/common_msgs.git

2.3 usb_cam

git clone https://github.com/ros-drivers/usb_cam.git

2.4 ros_rplidar

git clone https://github.com/robopeak/rplidar_ros.git

2.5 obstacle_detector

git clone https://github.com/tysik/obstacle_detector.git

2.6 laser_filters

git clone https://github.com/ros-perception/laser_filters.git 

3. Install module

3.1 cv_bridge

sudo apt-get install ros-melodic-cv-bridge
sudo apt-get install ros-melodic-vision-opencv

• melodic is ros-version-name

3.2 rosserial_Arduino

sudo apt-get install ros-melodic-rosserial-arduino
sudo apt-get install ros-melodic-rosserial

• melodic is ros-version-name

4. Run