RoboMaster Control System based on ROS2.
TODO .
ubuntu-serverssh-serverdocker
# in /etc/netplan/****.yaml
network:
renderer: networkd
version: 2
ethernets:
enp1s0:
optional: true # optional enable
set-name: mid-360
addresses: [192.168.1.50/24]
match:
macaddress: 70:70:fc:03:7f:83
enx6c1ff703689c: # device name
optional: true # optional
set-name: qzhhhi # name
addresses: [192.168.234.2/24] # static ip address + /24
match: # match:
macaddress: 6c:1f:f7:03:68:9c # mac address
enx207bd27efaf5:
optional: true
set-name: creeper5820
addresses: [192.168.234.3/24]
match:
macaddress: 20:7b:d2:7e:fa:f5
wifis:
wlp2s0:
optional: true # optional enable
access-points:
AllianceTeam5.8G:
password: rm-alliance.icu
dhcp4: true# After you set local ip to 192.168.234.1
# And check what is the name of your ethernet device
docker run -it --rm --privileged --network=host qzhhhi/dhcp-server eno1# Set remote ip
set-remote 192.168.234.2
# ssh
ssh-remote
# Copy the install directory to remote
# TODO: Remove directory restrictions
sync-remoteTo make Ubuntu1 regarded as gateway, edit the /etc/netplan/***.yaml. A possible version is shown below.
# Let NetworkManager manage all devices on this system
network:
ethernets:
ens32: ## network card name
dhcp4: false
addresses:
- 192.168.234.5/24 ## set static IP
routes:
- to: default
via: 192.168.234.1 ## gateway
version: 2
Assuming that Ubuntu 1 has wlp4s0 connected to Internet and eno1 connected to NUC, Run commands below in Ubuntu 1 to create a soft route.
sudo iptables -A FORWARD -i eno1 -o wlp4s0 -j ACCEPT
sudo iptables -A FORWARD -i wlp4s0 -o eno1 -m state --state ESTABLISHED,RELATED -j ACCEPT
sudo iptables -t nat -A POSTROUTING -o wlp4s0 -j MASQUERADE
- Check out Pid and Vid.
lsusb | grep DECXINAs shown below, Pid is 2cd1 while Vid is 1bcf.
Bus 003 Device 011: ID 1bcf:2cd1 Sunplus Innovation Technology Inc. DECXIN CAMERA
- Check out port.
udevadm info --attribute-walk --name=/dev/video2 | grep "KERNEL"As shown below, port is "3-2".
KERNEL=="video2"
KERNELS=="3-2:1.0"
KERNELS=="3-2"
KERNELS=="usb3"
KERNELS=="0000:36:00.4"
KERNELS=="0000:00:08.1"
KERNELS=="pci0000:00"
- Edit udev rules
sudo gedit /etc/udev/rules.d/omni.rules Type rules below
KERNEL=="video*",KERNELS=="3-2", ATTRS{idProduct}=="2cd1", ATTRS{idVendor}=="1bcf", MODE:="0777", SYMLINK+="leftfront"
KERNEL=="video*",KERNELS=="3-1", ATTRS{idProduct}=="2cd1", ATTRS{idVendor}=="1bcf", MODE:="0777", SYMLINK+="rightfront"
KERNEL=="video*",KERNELS=="3-3", ATTRS{idProduct}=="2cd1", ATTRS{idVendor}=="1bcf", MODE:="0777", SYMLINK+="left"
KERNEL=="video*",KERNELS=="3-4", ATTRS{idProduct}=="2cd1", ATTRS{idVendor}=="1bcf", MODE:="0777", SYMLINK+="right"
- Refresh
sudo udevadm control --reload-rules && sudo udevadm trigger- Pull or load images
- Online
sudo docker pull qzhhhi/rmcs-runtime - Offline
sudo docker load -i rmcs-runtime.tar- Start with NUC
sudo vi /etc/init.d/rmcs-runtime.sh
Type content below
### BEGIN INIT INFO
# Providers: rmcs-runtime.sh
# Description: run rmcs runtime environment
### END INIT INFO
systemctl start docker
docker run --restart=always --privileged --network=host -v /dev:/dev qzhhhi/rmcs-runtimePS:
### BEGIN INIT INFOand### END INIT INFOare required.
sudo chmod 775 rmcs-runtime.sh
sudo update-rc.d rmcs-runtime.sh defaults 90 source /opt/ros/humble/setup.bash
ros2 topic pub -1 /gimbal/calibrate std_msgs/msg/Int32 "{'data':1}"
cat /rmcs.launch.outsource /opt/ros/humble/setup.bash
ros2 topic pub -1 /imu/calibrator std_msgs/msg/Int8 "{'data':1}" # Start calibrating
ros2 topic pub -1 /imu/calibrator std_msgs/msg/Int8 "{'data':0}" # Finish calibrating
cat /rmcs.launch.outPS: All control should be disabled when calibrating.
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