This repository contains the codebase for a rescue robot control system, developed using ROS 2 (Humble).
- ROS 2 Humble
- C++14 or higher
# 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
Run the keyboard_publisher node:
ros2 run keyboard_controller keyboard_publisher
The communication protocol for the robot system can be found in the link:
https://docs.google.com/document/d/15l8EZoLQ8ltLROfFUyf_mJ9b2J9PZ0hl/edit?usp=sharing&ouid=102832733841320281280&rtpof=true&sd=true
The current code contributors are Dr. Huang Hao and Xiang Yan.
This project is licensed under the MIT License.
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