Ecto-2

It's nothing like the Ecto-1 but one day it will drive itself.

Currently it's controlled by an Xbox One Controller.

Pairing Xbox One controller

Follow https://approxeng.github.io/approxeng.input/bluetooth.html

Run the program

 $ ros2 launch ecto2 ecto2.launch.py

Serial communication

Simple serial communication between arduino and the actuator. Will make it work with XRCE-DDS like micro-ros. But this should be suffic in the short term.

Message

First byte defines the header.

+----------------------------------+
|header |value1  |delimiter|value2 |
+----------------------------------+
|1 byte |2 bytes |1 byte   |2 bytes|
+----------------------------------+

Example message: (-20,0) with 'H' as header and ':' as delimiter:

b'H\xff\xec:\x00\x00'

Notes

Pi camera permission problem

by default in ROS the account may not have correct access. Add user to video group would resolve this problem. $ sudo usermod -a -G video $USER