The NIU Ex Arca integrated ROS2 package
This diagram is a WIP draft of our rover's data flow. White elements are stuff that we code, and gray elements are stuff that other subteams (i.e. electrical, science task) code.
On the Arduino:
Base_Control.ino
Base_Control.ino
code.Then, on the Jetson Nano:
$ pip3 install pyserial
(Python doesn't have the serial
module by default, which is needed for the serial communication to the Arduino that our ROS2 drive_control_serial.py
file does)$ sudo chmod 666 /dev/ttyACM0
(this avoids the issue of "permission denied" when trying to write data to /dev/ttyACM0
, the file handle representing the Arduino)$ colcon build
to build your workspace$ source install/setup.bash
to source the overlay$ ros2 launch ex_arca drive_control.launch.py