Linorobot2 package - NTheuws/linorobot2_software GitHub Wiki

The easiest way to install this package on the robot computer is to run the bash script found in this package's root directory. It will install all the dependencies, set the ENV variables for the robot base and sensors, and create a linorobot2_ws (robot_computer_ws) on the robot computer's $HOME directory. To do this follow the steps below. Alternatively, if you're using a ZED camera with a Jetson Nano, you must create a custom Ubuntu 20.04 image for CUDA and the GPU driver to work. Here's a quick guide on how to create a custom image for Jetson Nano.

source /opt/ros/<ros_distro>/setup.bash
cd /tmp
wget https://raw.githubusercontent.com/linorobot/linorobot2/${ROS_DISTRO}/install_linorobot2.bash
bash install_linorobot2.bash <robot_type> <laser_sensor> <depth_sensor>
source ~/.bashrc

in this installation, replace the options including the <> with the following; an example would be: bash install_linorobot2.bash mecanum ldlidar realsense

robot_type:

  • 2wd - 2 wheel drive robot.
  • 4wd - 4 wheel drive robot.
  • mecanum - Mecanum drive robot.

laser_sensor:

Sensors marked with an asterisk are depth sensors. If a depth sensor is used as a laser sensor, the launch files will run depthimage_to_laserscan to convert the depth sensor's depth image to laser scans. As long as the right sensor has been configured correctly, you won't have to change anything yourself.

depth_sensor:

Alternatively, follow this guide to do the installation manually.



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