Install dependencies for mobile base - Kraft2k/icebox-rover GitHub Wiki

sudo apt install python3-pip

Install ROS2 FOXY https://docs.ros.org/en/foxy/Installation/Ubuntu-Install-Debians.html

sudo apt install ros-humble-tf-transformations

sudo apt install ros-humble-example-interfaces

pip3 install transforms3d

Clone and install custom version of PyVESC from pollen-robotics:

git clone https://github.com/pollen-robotics/PyVESC.git

cd PyVESC/

pip install .

find . -name 'pyvesc*'

Put in .bashrc

export PYTHONPATH=/home/kraft/.local/lib/python3.10/site-packages:$PYTHONPATH

export PYTHONPATH=/home/kraft/PyVESC/src:$PYTHONPATH

for Paspberry PI

sudo apt -y install python3-rpi.gpio

sudo apt install python3-serial

Insert raw into file mobile_base.py

import serial

if PermissionError: [Errno 13] Permission denied: '/dev/serial/by-id/

sudo chmod 666 /dev/ttyACM0

sudo chmod 666 /dev/serial/by-id/usb-STMicroelectronics_ChibiOS_RT_Virtual_COM_Port_304-if00

git clone https://github.com/Kraft2k/units_interfaces.git

colcon build --packages-select units_interfaces

if error

pip install --upgrade empy==3.3.4

git clone https://github.com/Kraft2k/mobile_base_unit.git