Big Boy

Ros2 Humble - Ubuntu 22.04 (Jammy) - RPLidar A1 - Raspberry Pi 4 - Old hoverboard

Run lidar

sudo chmod 777 /dev/serial/by-id/usb-Silicon_Labs_CP2102_USB_to_UART_Bridge_Controller_0001-if00-port0

ros2 launch big_boy rplidar.launch.py

Run robot

sudo chmod 777 /dev/serial/by-id/usb-1a86_USB_Serial-if00-port0

ros2 launch big_boy launch_robot.launch.py

If you wanna drive it, use:

ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r /cmd_vel:=/diff_cont/cmd_vel_unstamped

Run simulation

ros2 launch big_boy launch_sim.launch.py world:=./src/big_boy/worlds/obstacles.world

ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r /cmd_vel:=/diff_cont/cmd_vel_unstamped

Warning
If you are not using ros2 control on the simulation, should run this instead
ros2 run teleop_twist_keyboard teleop_twist_keyboard

Using Slam Toolbox

Warning
If you are not using the simulation, should change this part
use_sim_time:=false

Run mapping or localization

ros2 launch big_boy online_async_launch.py use_sim_time:=true

Run navigation

ros2 launch big_boy navigation_launch.py use_sim_time:=true

Using AMCL (Not tested)

Warning
If you are not using the simulation, should change this part
use_sim_time:=false

Run localization (Hard)

ros2 run nav2_map_server map_server --ros-args -p yaml_filename:=my_map_save.yaml -p use_sim_time:=true

ros2 run nav2_util lifecycle_bringup map_server

ros2 run nav2_amcl amcl --ros-args -p use_sim_time:=true

Run localization (Easy)

ros2 launch big_boy localization_launch.py map:=./my_map_save.yaml use_sim_time:=true

Run navigation

ros2 launch big_boy navigation_launch.py use_sim_time:=true map_subscribe_transient_local:=true

Packages

• rplidar_ros
• hoverboard_driver