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ROS Nodes for RoboCar 1/10X - 1/10 scale vehicle robot with ackermann steering, 2D lidars, camera and other sensors

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zmp/robocar110_ros

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RoboCar 1/10 X ROS2

Here you can find a RoboCar 1/10 X ROS2 driver and sample nodes sources demonstrating its basic usage. Releases also contain binary C++ Base Drivers which are used by the ROS nodes.

ROS2 was tested only with Ubuntu 20. Other versions are not supported yet.

The information about version changes can be found in ReleaseNotes.

Binary Packages [Robot Only]

Connect peripherals to the robot according to the User Manual. Boot, login, open browser, go to Releases and download the latest *.run files.

Please, note that robot code works only on NVIDIA AGX Xavier or AGX Orin (arm64), Ubuntu 20.

Base Drivers Installation

cd ~/Downloads
sh rc110_drivers_*.run

ROS and RC110 Core + Robot Nodes Installation

sh rc110_robot_*.run

System Check

Click on menu button and run "RoboCar 1/10" application.

Source Code

Fresh Installation

mkdir -p ~/ros/src
cd ~/ros/src
git clone https://github.com/zmp/robocar110_ros.git
cd ~/ros/src/robocar110_ros/  # make commands below are called from here!

Version Update

Check Versions

make version
  • Tegra: full operation system version string
  • JetPack (deb): jetpack version installed from debian package
  • Base Driver: version of rc110_drivers_*.run
  • ROS Nodes: version of nodes listed in rc110_robot_*.run
  • Source Code: version of this source code

Robot Nodes

For this, you need a real RoboCar 1/10X. If you don't have one, try simulation described below.

(The graph can be a bit different.)

Remote Connection

Automatic remote connection to the robot is possible. The ROS version should be the same as on robot. Tested architectures: amd64, arm64.

Other Samples

When the driver is up and running, it's possible to start other ROS nodes that communicate with it.

Group Description
rc110_navigation Not yet ported.
rc110_perception Object Detection, etc

Additional Information

Discussions

It's possible to ask a question, propose an idea or just show your work at Discussions. Please, feel free to use japanese language, we will add translation to your message, if we consider it helpful for the community.

The benefit of Discussions is that you can get a feedback not only from the company stuff, but also from robot users who might give even better ideas.