nhk2025b_ros2

ros2のwsです

Document

install for simulation

1. install dep

sudo apt install ros-humble-xacro

2. clone repo

mkdir -p ~/NITIC_NHK2025B
cd ~/NITIC_NHK2025B
git clone https://github.com/NITIC-Robot-Club/nhk2025b_ros2
cd nhk2025b_ros2

3. build

./build_all.sh

4. run

ros2 launch nhk2025b_launch simulation.launch.xml

install

sudo apt install ros-humble-xacro
sudo apt install ros-humble-joint-state-publisher-gui
sudo apt install can-utils

rosbag

ros2 bag record --all

CANABLE

sudo nano /etc/udev/rules.d/99-canable.rules

SUBSYSTEM=="usb", ATTR{idVendor}=="1d50", ATTR{idProduct}=="606f", ATTR{serial}=="0058001E5741500C20393541", SYMLINK+="can", \
RUN+="/sbin/ip link set can0 type can bitrate 1000000", \
RUN+="/sbin/ip link set can0 up"

SUBSYSTEM=="usb", ATTR{idVendor}=="1d50", ATTR{idProduct}=="606f", ATTR{serial}=="004A00433136500C2039384D", SYMLINK+="can", \
RUN+="/sbin/ip link set can0 type can bitrate 1000000", \
RUN+="/sbin/ip link set can0 up"

sudo udevadm control --reload-rules
sudo udevadm trigger

Virtual CAN

first

sudo modprobe vcan

start

sudo ip link add dev can0 type vcan bitrate 1000000
sudo ip link set up can0

end

sudo ip link delete can0