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--- software:tortugabot_ros2 [2025/04/03 08:51] – [Hokuyo Lidar] s_fuyedc
+++ software:tortugabot_ros2 [2025/04/03 12:01] (current) – [Notes] s_fuyedc
@@ Line 205: / Line 205: @@
-=== Notes ===
+===== Notes =====
 <code>
@@ Line 214: / Line 214: @@
 sudo apt update
 sudo apt upgrade
-sudo apt install vim
+nano .bashrc
-vim .bashrc
 # into .bashrc
@@ Line 229: / Line 228: @@
 # Add user to dialout
 sudo adduser $USER dialout
+sudo adduser $USER roscourse
 sudo adduser roscourse dialout
@@ Line 240: / Line 240: @@
 ###
 </code>
+Install ROS tools, init rosdep and give sudo user arthur access to roscourse files.
 <code>
-# Set up workspace on turtle
+# user: sudo
+sudo apt install ros-dev-tools ros-jazzy-topic-tools
+sudo rosdep init
+</code>
+Set up workspace on turtle
+<code>
+# user: roscourse
 mkdir -p ~/tortugabot_ws/src
 cd ~/tortugabot_ws/src
 </code>
-<code>
+Get repositories
-# requires sudo user
-sudo apt install ros-dev-tools
-</code>
 <code>
-vim tortugabot.repos
+# user: roscourse
-repositories:
+curl https://raw.githubusercontent.com/code-iai/tortugabot/refs/heads/ros2/tortugabot.repos > tortugabot.repos
-  roboclaw_ros:
-    type: git
-    url: https://github.com/code-iai/roboclaw_ros.git
-    version: ros2
-  urg_node2:
-    type: git
-    url: https://github.com/code-iai/urg_node2.git
-    version: main
-# Clone repositories
 vcs import --recursive < tortugabot.repos
+rosdep update
 </code>
+Install dependencies
 <code>
-# allow sudo user arthur to see roscourse directories
+# user: sudo
-sudo adduser arthur roscourse
+rosdep install -i --from-path /home/roscourse/tortugabot_ws/src --rosdistro jazzy
+</code>
-# sudo
+Build the workspace and source the executables.
-sudo rosdep init
-rosdep update
-rosdep install -i --from-path . --rosdistro jazzy
-#roscourse
+<code>
-cd ..
+# user: roscourse
+cd ~/tortugabot_ws
 colcon build
 source install/setup.bash
+echo 'source /home/roscourse/tortugabot_ws/install/setup.bash' >> ~/.bashrc
+</code>
+Run the nodes in separate terminals
+<code>
 # roboclaw
 ros2 launch roboclaw_node roboclaw_launch.py
@@ Line 292: / Line 294: @@
 ros2 launch urg_node2 urg_node2.launch.py
-# transform odom < laser
+# Throttle laser frequency to 10 hz
+ros2 run topic_tools throttle messages /scan 10.0
+# transform base_footprint < laser
 ros2 run tf2_ros static_transform_publisher --frame-id base_footprint --child-frame-id laser
 </code>