ROS

1. Using nav_msgs/Odometry => Publishing odometry information over ROS reference: http://wiki.ros.org/navigation/Tutorials/RobotSetup/Odom #include #include #include int main(int argc, char** argv){ ros::init(argc, argv, "odometry_publisher"); ros::NodeHandle n; ros::Publisher odom_pub = n.advertise("odom", 50); tf::TransformBroadcaster odom_broadcaster; double x = 0.0; double y = 0.0; double th..

vcc-5v gnd-gnd dat-sda clk-clk Jetson xavier pin 3 = I2C1_SDA pin 5= I2C1_SCL => I2C BUS 8 Download i2c tools $ sudo apt-get install libi2c-dev i2c-tools Get permission $ sudo chmod 666 /dev/i2c-1 add your user to the i2c group $ sudo usermod -a -G i2c $USER check able i2c (code default = /dev/i2c-1) $ i2cdetect -l $ ls /dev/i2c* check address (code default = 0x28) $ sudo i2cdetect -y 8 $ sudo i..

0. My environment - Ubuntu 18.04 - ROS melodic 1. git clone rplidar source $ cd catkin_ws/src $ git clone https://github.com/Slamtec/rplidar_ros $ cd .. $ catkin_make 2. source bash $ source ~/catkin_ws/devel/setup.bash 3. Get permision USB $ ls /dev/ttyUSB* $ sudo chmod 0666 /dev/ttyUSB0 4. Test $ roslaunch rplidar_ros view_rplidar.launch Reference: https://github.com/Slamtec/rplidar_ros GitHub..

Reference: https://github.com/nobleo/full_coverage_path_planner GitHub - nobleo/full_coverage_path_planner: Full coverage path planning provides a move_base_flex plugin that can plan a path th Full coverage path planning provides a move_base_flex plugin that can plan a path that will fully cover a given area - GitHub - nobleo/full_coverage_path_planner: Full coverage path planning provid... gith..

https://velog.io/@717lumos/ROS-msg%EB%A9%94%EC%8B%9C%EC%A7%80-%EB%A7%8C%EB%93%A4%EA%B8%B0 [ROS] 커스텀 메시지(custom msg) 만들기(1) 커스텀 메시지 제작 과정 및 결과 velog.io package -> message_generation message_runtime CMake -> find_package -> message_generation add_message_files msg format: http://wiki.ros.org/msg

ros navigation 튜토리얼을 모두 하고 나면 문득 궁금할 것이다. 과연 rviz에서 화살표를 찍는 방법 말고 목적지까지 갈 수 있는 방법은 없는 것인가? 답은 간단하다. 액션 클라이언트 헤더파일에 있는 함수를 이용하면 된다. http://wiki.ros.org/navigation/Tutorials/SendingSimpleGoals navigation/Tutorials/SendingSimpleGoals - ROS Wiki Note: This tutorial assumes that you have completed the previous tutorials: ROS tutorials. Please ask about problems and questions regarding this tutorial o..