Raspberry Pi Setup Guide

Requirements

• OS: Ubuntu 22.04 Jammy
• Ros2 Humble

Build your Workspace for devloper pc

Creating the directory

mkdir -p dev_ws/src

Cloning the project

cd ~/dev_ws/src
git clone https://github.com/attu0/articubot_one.git

Build your Workspace for raspberry pi

Creating the directory

mkdir -p robot_ws/src

Cloning the project

cd ~/robot_ws/src
git clone https://github.com/attu0/articubot_one.git

Colcon build

cd ~/dev_ws
colcon build --symlink-install

Run the project Simulation

Source it

cd ~/dev_ws
source /opt/ros/humble/setup.bash
source install/setup.bash

ROS Gazebo run with empty world

ros2 launch articubot_one launch_sim.launch.py 

ROS Gazebo run with My World

ros2 launch articubot_one launch_sim.launch.py world:=src/articubot_one/worlds/world.world 

Launch rviz

rviz2 -d src/articubot_one/config/main.rviz

Control the Robot

ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args --remap cmd_vel:=/diff_cont/cmd_vel_unstamped

Get Image feed

ros2 run rqt_image_view rqt_image_view

Get Lidar feed

ros2 launch articubot_one rplidar.launch.py

Run the Real Robot

Source it

cd ~/robot_ws
source /opt/ros/humble/setup.bash
source install/setup.bash

Start Robot

ros2 launch articubot_one launch_robot.launch.py

Launch rviz

rviz2 -d src/articubot_one/config/main.rviz

Control the Robot

ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args --remap cmd_vel:=/diff_cont/cmd_vel_unstamped

Get Image feed

ros2 run rqt_image_view rqt_image_view

Get Lidar feed

ros2 launch articubot_one rplidar.launch.py