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