ncu_mdog

About The Project

This is ncu_the drivers and sample code of ncu_mdog.

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Hardware List

• jetson nano 4GB
• Ydlidar X4
• Intel Realsence D435i
• MPU9250
• SG996*12
• PCA9685

Built With

• jetson nano 4GB
• Ubuntu 18.04
• Ros melodic
• RTIMULIB
• ros-i2cpwmboard

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Getting Started

Prerequisites

• apt part

sudo apt updat
sudo apt-get install i2c-tools libi2c-dev build-essential python3-catkin-tools

• cmake part

cd ~
git clone https://github.com/jetsonhacks/RTIMULib.git

cd RTIMULib/Linux
mkdir build
cd build
cmake .. -DBUILD_DEMO=0 -DBUILD_GL=0
make -j4
sudo make install
sudo ldconfig

Installation

get to your workspace/src then clone and build the package:

cd ~/catkin_ws/src
git clone https://github.com/mentor-dyun/ros-i2cpwmboard.git
cd ..
catkin_make
source devel/setup.sh (source ~/.bashrc)

cd ~/catkin_ws/src
git clone https://github.com/neko7055/ncu_mdog.git
cd ..
catkin_make
source devel/setup.sh (source ~/.bashrc)
roscd ncu_mdog/startup
sudo chmod 777 ./*
sudo sh initenv.sh

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Usage

roslaunch ncu_mdog project_sample.launch

Acknowledgments

• RTIMULIB
• ros_i2cbread

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