Hardware and sensor interfacing for RC cars.
This module requires a recursive clone to build. The encoder firmware is in a separate repo so that it can be isolated and put on the arduino.
git clone --recursive git@github.com:cornellev/rc-hardware.git
rc_hardware_sensors
depends on rc_localization_odometry
for certain message types.
You must have rc_localization_odometry
cloned/installed before you begin.
You also must have rosserial
, rosserial_arduino
, and ackermann_msgs
installed.
sudo apt-get install ros-noetic-rosserial
sudo apt-get install ros-noetic-rosserial-arduino
sudo apt-get install ros-noetic-ackermann-msgs
catkin_make
as usual.- Run
catkin_make rc_hardware_sensors_firmware_firmware-upload
to upload the firmware.
- Make sure all of your shells are sourced with
devel/setup.bash
in your workspace. - Make sure the port you are using is accessible and that you have read/write permissions
sudo chmod a+rw /dev/ttyUSB0
(if running on a rpi, this step may be unnecessary.) rosrun rosserial_python serial_node.py /dev/ttyUSB0
to connect the Nano toroscore
running on your computer.