Tinker21 UPBoard Project
Please follow Hardware/README.md
cd Workspace
catkin_makeAdd workspace to init (replace /home/one/Tinker_UP21 with absolute path of this directory)
echo "source /home/one/Tinker_UP21/Workspace/devel/setup.zsh" >> ~/.zshrc
source ~/.zshrcExecute following command in current directory
chmod +x Workspace/src/rcbigcar/scripts/*Write following content to /etc/systemd/system/launch_ros_robot.service
Replace /home/one/Tinker_UP21/ with absolute path of this directory
[Unit]
Description=ROS Robot Controller
After=network-online.target
Wants=network-online.target
[Service]
User=root
ExecStart=/home/one/Tinker_UP21/Workspace/src/rcbigcar/scripts/launch.sh
Restart=always
[Install]
WantedBy=multi-user.targetEnable services
sudo systemctl daemon-reload
sudo systemctl enable launch_ros_robot.service
sudo systemctl start launch_ros_robot.serviceCheck if controller status is active
sudo systemctl status launch_ros_robot.serviceExample output:
● launch_ros_robot.service - ROS Robot Controller
Loaded: loaded (/etc/systemd/system/launch_ros_robot.service; enabled; ven>
Active: active (running) since Thu 2021-03-18 16:11:10 CST; 46min ago
Main PID: 1020 (launch.sh)
Tasks: 22 (limit: 3948)
Memory: 79.3M
CGroup: /system.slice/launch_ros_robot.service
├─1020 /bin/bash /home/one/Tinker_UP21/Workspace/src/rcbigcar/scri>
├─1079 /usr/bin/python3 /opt/ros/noetic/bin/roslaunch rcbigcar all>
├─1247 /usr/bin/python3 /opt/ros/noetic/bin/rosmaster --core -p 11>
├─1259 /opt/ros/noetic/lib/rosout/rosout __name:=rosout __log:=/ro>
└─1263 /home/one/Tinker_UP21/Workspace/devel/lib/rcbigcar/robot __>
3月 18 16:11:10 one-upboard systemd[1]: Started ROS Robot Controller.
Install Hokuyo driver
sudo apt install ros-noetic-urg-nodeInstall Hokuyo udev rules
Create /etc/udev/rules.d/99-one.hokuyo-usb.rules and write following content
# Assign Hokuyo Lidar by serial number (WIP)
# http://wiki.ros.org/urg_node
SUBSYSTEMS=="usb", KERNEL=="ttyACM[0-9]*", ACTION=="add", ATTRS{idVendor}=="15d1", ATTRS{idProduct}=="0000", SYMLINK+="hokuyo"Create new workspace and install cartographer
cd ~
mkdir Tinker_ENV21
cd Tinker_ENV21
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