# Clone the repository
git clone https://github.com/Lawrencehh/buaa_rescue_robot.git

# Navigate to the workspace
cd buaa_rescue_robot

# install requirements
rosdep install --from-paths src --ignore-src -r -y

# Build the project
colcon build

# Source the setup script
source install/setup.bash

# remove the brltty
sudo apt remove brltty

sudo gedit /etc/udev/rules.d/99-usb-serial.rules

 KERNEL=="ttyUSB[0-9]*", MODE="0666"
# Set a fixed name for specific serial devices

# Robomaster 1
SUBSYSTEM=="tty", SUBSYSTEMS=="usb", KERNELS=="3-1.4", ATTRS{idVendor}=="1a86", ATTRS{idProduct}=="7523", MODE="0666", SYMLINK+="ttyRobomaster1"
SUBSYSTEM=="tty", SUBSYSTEMS=="usb", KERNELS=="3-1.3", ATTRS{idVendor}=="067b", ATTRS{idProduct}=="23a3", MODE="0666", SYMLINK+="ttyPullPushSensors1"
SUBSYSTEM=="tty", SUBSYSTEMS=="usb", KERNELS=="3-1.1", ATTRS{idVendor}=="067b", ATTRS{idProduct}=="23a3", MODE="0666", SYMLINK+="ttyPullPushSensors2"

# Robomaster 2
SUBSYSTEM=="tty", SUBSYSTEMS=="usb", KERNELS=="5-1.4", ATTRS{idVendor}=="1a86", ATTRS{idProduct}=="7523", MODE="0666", SYMLINK+="ttyRobomaster2"

SUBSYSTEM=="tty", SUBSYSTEMS=="usb", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6001", MODE="0666", SYMLINK+="ttyElevatorLinearModules"

sudo gedit /etc/udev/rules.d/99-force-dimension.rules

# Add permissions
SUBSYSTEMS=="usb", ATTRS{idVendor}=="1451", ATTRS{idProduct}=="0402", MODE="0666", GROUP="plugdev"

sudo udevadm control --reload-rules
sudo udevadm trigger

ros2 launch buaa_rescue_robot_msgs control_by_keyboard.launch.py 

ros2 run keyboard_controller keyboard_publisher