ros2-wave-rover

This is a ROS 2 driver for Waveshare Wave Rover. Should work with other waveshare robots based on JSON / UART communication (Offroad UGV, etc.)

Basically, it's a node that subscribes to cmd_vel topic and runs the motors accrodingly.

Requirements

sudo apt install -y qtcreator qtbase5-dev qt5-qmake cmake libqt5serialport5-dev

Create a serial port, for testing purpose

socat -v -d -d PTY,raw,echo=0,b115200,cs8 PTY,raw,echo=0,b115200,cs8

For the real one, to test it:

stty -F /dev/ttyUSB0 1000000 # set the baud rate
cat /dev/ttyUSB0 # will receive commands that are sent from the robot
echo -ne "{\"T\":-3}" > /dev/ttyUSB0 # will send commands
echo -ne "{\"T\":1, \"L\":120, \"R\":120}" > /dev/ttyUSB0 # will send commands

To create the udev rule

sudo cp 99-waverover.rules /etc/udev/rules.d/99-waverover.rules

Give the rights to the serial port

The easy way:

sudoedit /etc/udev/rules.d/50-myusb.rules

Save this text:

KERNEL=="ttyUSB[0-9]*",MODE="0666"
KERNEL=="ttyACM[0-9]*",MODE="0666"

Then unplug and replug the device.

Run the docker image

docker run -it --rm  braoutch/ros2-wave-rover ros2 launch grospote grospote-node

or

docker run --privileged -v /dev/ttyS0:/dev/ttyS0 -v /dev/input:/dev/input -it --rm  braoutch/ros2-wave-rover  ros2 launch grospote wave_rover_launch.py enable_joypad:=0 UART_address:="/dev/ttyS0"

It will also run (slowly) on x86 if you ran the qemu line before.

Docker build - raspberry pi

QEMU

docker run --rm --privileged multiarch/qemu-user-static --reset -p yes

Alternative

docker build -t braoutch/ros2-wave-rover:1.0.2 . --progress=plain

Send a twist message

ros2 topic pub /cmd_vel geometry_msgs/msg/Twist "{linear: {x: 0.1, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 1.0}}"

Run the joypad node

ros2 launch grospote control_launch.py