🦕 nanosaur

NanoSaur is a little tracked robot ROS2 enabled, made for an NVIDIA Jetson Nano

• Website: nanosaur.ai
• Do you need an help? Discord
• For technical details follow wiki
• Something wrong? Open an issue

Install nanosaur system

git clone https://github.com/rnanosaur/nanosaur.git
sudo bash nanosaur/nanosaur_bringup/scripts/install.sh

After the installation please reboot the jetson board

Run nanosaur

This script start the docker-compose

cd nanosaur/
docker-compose up -d

Develop

This following part is to develop with nanosaur

Build Docker

Make ROS2 foxy jetson-container

git clone --branch patch-1 https://github.com/rbonghi/jetson-containers.git
./jetson-containers/scripts/docker_build_ros.sh foxy

After foxy build, build the nanosaur docker for jetson

cd nanosaur
docker build -f Dockerfile.dev -t nanosaur:l4t-r32.4.4 .

Run docker container

https://answers.ros.org/question/358453/ros2-docker-multiple-hosts/

docker run --runtime nvidia -it --rm  --network host --device /dev/i2c-1 -v /tmp/argus_socket:/tmp/argus_socket -v $HOME/nanosaur:/opt/ros_ws/src/nanosaur nanosaur:l4t-r32.4.4 bash

Detect I2C devices

Install I2C tools and detect all devices

sudo apt-get install -y python-smbus
sudo apt-get install -y i2c-tools

sudo i2cdetect -y -r 1

Devices:

• 3C left Display
• 3D right display
• 60 motor driver

## Camera fail

If the camera fail do:

sudo systemctl restart nvargus-daemon

And rerun the docker container