Booting the robot - NTheuws/linorobot2_software GitHub Wiki

There are 2 options when it comes to booting the robot, pick the one that applies to you:

  1. Using a real robot
  2. Using gazebo, a simulated robot

1. Using a real robot

ros2 launch linorobot2_bringup bringup.launch.py

Optional parameters:

  • base_serial_port - Serial port of the robot's microcontroller. The assumed value is /dev/ttyACM0. Otherwise, change the default value to the correct serial port. For example:

    ros2 launch linorobot2_bringup bringup.launch.py base_serial_port:=/dev/ttyACM1

  • joy - Set to true to run the joystick node in the background. (Tested on Logitech F710).

Always wait for the microROS agent to be connected before running any application (ie. creating a map or autonomous navigation). Once connected, the agent will print:

| Root.cpp             | create_client     | create
| SessionManager.hpp   | establish_session | session established

The agent needs a few seconds to get reconnected (less than 30 seconds). Unplug and plug back in the microcontroller if it takes longer than usual.

2. Using Gazebo

ros2 launch linorobot2_gazebo gazebo.launch.py

linorobot2_bringup.launch.py or gazebo.launch.py must always be run on a separate terminal before creating a map or robot navigation when working on a real robot or gazebo simulation respectively.



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