Ubuntu Tutorial

01. Kết nối điều khiển pibot Rpi4:

https://drive.google.com/drive/folders/1y8DLla9Q8x07zO5ntRBlmzxdOkWPdePt?usp=sharing

02. Kết nối điều khiển Jetsonbot:

Rút gọn : https://drive.google.com/drive/folders/1dB-FM2CnCbARtn_SXWOcgPzQYZzyOGOv?usp=share_link

Tổng hợp: https://drive.google.com/drive/folders/1wYArzfHJDGa-9k14IIuLeCmYYatZJ928?usp=sharing

03.

Wifi connection problem in Ubuntu

https://askubuntu.com/questions/1254608/the-wifi-is-disabled-when-i-start-with-windows-and-then-go-back-to-ubuntu-a-res

https://itsfoss.com/connect-wifi-terminal-ubuntu/

Backup Rpi sd card to image:

https://github.com/RichardMidnight/pi-safe/blob/main/LICENSE

Time synchronization

https://chowdera.com/2022/03/202203230757409343.html

Setting WiFi up via the command line Ubuntu server 18.04.4 LTS - Raspberry Pi 4 Wireless connectivity

https://raspberrypi.stackexchange.com/questions/108636/setting-wifi-up-via-the-command-line-ubuntu-server-18-04-4-lts-raspberry-pi-4


Auto init Ros packages

echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc

Check package:

roscd map_server

If dont have, install that package

sudo apt-get install ros-melodic-map-server

pip install scikit-learn

Change owner:

sudo chown -R $USER \rplidar_ros

Run ros on startup:

https://github.com/HebiRobotics/hebi_cpp_api_ros_examples

https://blog.roverrobotics.com/how-to-run-ros-on-startup-bootup/

Wait for device connected:

https://github.com/liquidctl/liquidctl/blob/main/docs/linux/making-systemd-units-wait-for-devices.md


Disable password:

https://askubuntu.com/questions/852527/how-do-i-stop-ubuntu-from-asking-for-my-password-every-time-i-install-something

sudo visudo

Add this line to the end of file:

# See sudoers(5) for more information on "#include" directives:

#includedir /etc/sudoers.d

your_user_name ALL=(ALL) NOPASSWD: ALL


Ctrl +x and y , and enter to save and exit

change to : Defaults env_reset, timestamp_timeout=999999

Change USB name for Rplidar and serial arduino devices:

http://community.bwbot.org/topic/594/xiaoqiang-tutorial-13-rplidar-a2-lidar-useage-and-set-udev-rules-for-serial-devices-for-xiaoqiang

https://www.clearpathrobotics.com/assets/guides/kinetic/ros/Udev%20Rules.html

Info rule:

udevadm info -q path -n /dev/ttyUSB0

Fullinfo:

$ udevadm info -a /dev/ttyUSB0

$ udevadm info -a -p $(udevadm info -q path -n /dev/ttyUSB0)


After get info: Change file:

$ sudo nano /etc/udev/rules.d/92-pibot-udev.rules

KERNEL=="ttyUSB*", MODE:="0666"


# RPLidar A1

ACTION=="add", SUBSYSTEM=="tty", ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="ea60", SYMLINK+="ttyUSBlidarA1"

# Serial arduino nano

ACTION=="add", SUBSYSTEM=="tty", ATTRS{idVendor}=="1a86", ATTRS{idProduct}=="7523", SYMLINK+="ttyUSBserial"

Next:

sudo udevadm control --reload-rules && udevadm trigger



Lessions:

  1. ROS Tutorial

http://wiki.ros.org/ROS/Tutorials

  1. My Robotic Manipulator #1: Basic URDF & RViz

https://www.theconstructsim.com/ros-projects-robotic-manipulator-part-1-basic-urdf-rviz/

https://automaticaddison.com/how-to-set-up-the-ros-navigation-stack-on-a-robot/

https://automaticaddison.com/how-to-launch-the-turtlebot3-simulation-with-ros/



rosrun gazebo_ros spawn_model -database coke_can -sdf -model coke_can -y 0.2 -x 0.2