pangolin_robot

Requirements

• Python 3.10
• ROS2 humble

Orin Nano environment setup

$ mkdir pangolin_ws && cd pangolin_ws

$ git clone https://github.com/BruceLin90620/ros2-pangolin-robot.git

$ git checkout dev

• build:

$ pip3 install setuptools==58.2.0

$ colcon build --symlink-install

• cd /home/user:

$ git clone https://github.com/ROBOTIS-GIT/DynamixelSDK.git

• cd /DynamixlSDK/python:

$ sudo python setup.py install

• Isaac ROS install:

$ VSlAM ...

Pangolin Start

$ ./start.sh

$ ros2 launch pangolin_bringup pangolin_bringup.launch.py

VSLAM Test

Pangolin launch

$ cd pangolin_ws/

$ source install/setup.bash

$ ros2 launch pangolin_control drive_controller.launch.py

Pangolin keybord Control

$ cd pangolin_ws

$ ros2 run teleop_twist_keyboard teleop_twist_keyboard