BozoBot

A ROS 2 package for my robot, BozoBot. The bozobot package runs on a raspberry pi 4 on the robot, designed to run on Ubuntu 20.04 64 bit with ROS 2 Foxy. To be able to use a picamera with rpi ubuntu, i had to modify /boot/firmware/config.txt (using usercfg.txt didn't work) and add the following lines:

start_x=1
gpu_mem=128

The picamera should now be available as /dev/video0 (or /dev/video1) and can be used like a usual V4L camera, i use RosUsbCam to publish the camera feed to ROS and cv_bridge to convert the ROS image frames into open cv BGR images for processing.

Build

Linux

Assumming ROS 2 Foxy is installed, clone this repo into the src folder of your workspace and build the package using colcon: (replace ~/ros2_ws with the path to your workspace)

source /opt/ros/foxy/setup.bash
cd ~/ros2_ws/src
git clone https://github.com/leocornelius/bozobot.git
cd ~/ros2_ws
colcon build --symlink-install

Non-Linux

No clue, should probably work with enough vodka and patience but i value my sanity too much to fuck around with windows. Dangerous shit. GLHF if you try, let me know how it goes in the issues.

Run

Open another terminal and source both the ROS 2 setup script and the overlay/ local setup script:

source /opt/ros/foxy/setup.bash # Only needed if you haven't already sourced it/ is not in your .bashrc
cd ~/ros2_ws/
source install/setup.bash

Then run the launch file:

ros2 launch bozobot robot.launch.py