search

avirtuos / ros_hercules

A basic autonomous rover built on ROS Indigo and using Seeduino's Hercules base with an RPLIDAR 360 for mapping and an Nvidia Tegra TX1 for higher level robot functions.
GNU General Public License v3.0
48 stars 18 forks source link

Which version of ROS? #2

Open Russ76 opened 7 years ago

Russ76 commented 7 years ago

Did you have to recompile the Linux kernel? What version of L4T did you use, and which version of ROS? This looks like an impressive project!

avirtuos commented 7 years ago

If you wanted the most recent versions of both ROS and L4T, yes you need to compile from source. I started this project a few weeks before 64bit userspace (L4T R24?) Was released so I avoided recompiling by using: ROS Indigo with L4T R23.1

I have to confirm both the Indigo and the R23.1 for you. I'm commuting to work and the rover is offline right now so I can't check. But that version of L4T was the last one with a 32bit userspace, it did however have a 64bit kernel space if I recall correctly. This allowed ROS Indigo to work from a normal binary installation.

The only thing I compiled from source was a kernel module for the FTDI chip used by my RPLIDAR. It was a pretty easy kernel module though.

Russ76 commented 7 years ago

Thanks for the quick answer. I updated L4T today and will load ROS. Used Indigo before but perhaps it's time to use a newer flavor. I'm hoping I can get by with the ZED without a LIDAR. Anyway, that's the plan at this point.

avirtuos commented 7 years ago

Cool. What are you using the ZED for? 2d SLAM or something else?

Russ76 commented 7 years ago

SLAM would be nice, but for me is secondary. My first priority is https://github.com/MobileRobotics-Ulaval/husky-trainer