Hardware installation - NTheuws/linorobot2_software GitHub Wiki

The robot has been built and the first few bits of software have been installed already. The next step is to install ROS2, the Linorobot2 packages and some other necessities to be able to start configuring the robot.

All of the following steps have to be installed on the robot computer.

It is assumed that you already have ROS2 and linorobot2 package installed. If you haven't, go to linorobot2 package for installation guide. In here follow all steps until you're referd back to the hardware/this page.

cd $HOME
git clone https://github.com/linorobot/linorobot2_hardware -b $ROS_DISTRO

Download and install platformio. Platformio allows you to develop, configure, and upload the firmware without the Arduino IDE. This means that you can upload the firmware remotely which is ideal on headless setup especially when all components have already been fixed.

curl -fsSL -o get-platformio.py https://raw.githubusercontent.com/platformio/platformio-core-installer/master/get-platformio.py
python3 get-platformio.py

Add platformio to your $PATH:

echo "PATH=\"\$PATH:\$HOME/.platformio/penv/bin\"" >> $HOME/.bashrc
source $HOME/.bashrc

Download the udev rules from Teensy's website:

wget https://www.pjrc.com/teensy/00-teensy.rules

and copy the file to /etc/udev/rules.d :

sudo cp 00-teensy.rules /etc/udev/rules.d/

sudo apt install screen

Previous step: RVIZ configuration

Next step: Firmware