software:tortugabot_ros2
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| Both sides previous revisionPrevious revisionNext revision | Previous revision | ||
| software:tortugabot_ros2 [2025/04/03 09:20] – [Hokuyo Lidar] s_fuyedc | software:tortugabot_ros2 [2025/04/03 12:01] (current) – [Notes] s_fuyedc | ||
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| Line 228: | Line 228: | ||
| # Add user to dialout | # Add user to dialout | ||
| sudo adduser $USER dialout | sudo adduser $USER dialout | ||
| + | sudo adduser $USER roscourse | ||
| sudo adduser roscourse dialout | sudo adduser roscourse dialout | ||
| Line 244: | Line 245: | ||
| < | < | ||
| # user: sudo | # user: sudo | ||
| - | sudo apt install ros-dev-tools | + | sudo apt install ros-dev-tools |
| - | # allow sudo user arthur to see roscourse directories | + | |
| - | sudo adduser arthur roscourse | + | |
| sudo rosdep init | sudo rosdep init | ||
| </ | </ | ||
| Line 272: | Line 271: | ||
| rosdep install -i --from-path / | rosdep install -i --from-path / | ||
| </ | </ | ||
| + | |||
| + | Build the workspace and source the executables. | ||
| < | < | ||
| # user: roscourse | # user: roscourse | ||
| - | # Build the workspace | + | cd ~/ |
| - | cd .. | + | |
| colcon build | colcon build | ||
| source install/ | source install/ | ||
| Line 293: | Line 293: | ||
| # laser | # laser | ||
| ros2 launch urg_node2 urg_node2.launch.py | ros2 launch urg_node2 urg_node2.launch.py | ||
| + | |||
| + | # Throttle laser frequency to 10 hz | ||
| + | ros2 run topic_tools throttle messages /scan 10.0 | ||
| # transform base_footprint < laser | # transform base_footprint < laser | ||
software/tortugabot_ros2.1743672030.txt.gz · Last modified: 2025/04/03 09:20 by s_fuyedc