注意

このプログラムは本家のラズパイRumiCarのピンアサインとは違います。

本家のラズパイRumiCarでこのROSのプログラムを使用する場合、RumiCarのFacebook groupでご相談ください。

RumiCar FacebookのURL：https://www.facebook.com/groups/rumicar

参考：https://github.com/RumiCar-group/RumiCar/tree/master/RasPi

RumiCar ROS2

Get the source

mkdir -p ~/rcar/src
cd ~/rcar/src
git clone --recursive <url>/RumiCarRos.git

Robot Setup

Setup the robot micro SD card with Ubuntu 22 Server.

• https://www.raspberrypi.com/software/

Gpiod

The driver uses gpiod and sysfs to control the motors with minimum CPU consumption. But in this case pigpio should be turned off and maybe uninstalled.

sudo systemctl stop pigpiod
sudo systemctl disable pigpiod
sudo apt remove pigpiod

PWM

PWM for 13 and 18 pins should be enabled in /boot/firmware/config.txt:

dtoverlay=pwm-2chan,pin=18,func=2,pin2=13,func2=4

• https://github.com/dotnet/iot/blob/main/Documentation/raspi-pwm.md

Build

• RasPi Zero
• RasPi Zero 2

Run

When packages are built (and uploaded), execute the following on the robot to start the driver:

. rcar/install/setup.bash
ros2 run rumi_driver rumi_driver

# or
ros2 launch rumicar original.launch

Joystick

Please, check here.

Camera

• https://index.ros.org/r/v4l2_camera/

Video

This is an YouTube video for how this code works. -> ROS2でRumiCarを遠隔操作/Remote control RumiCar by ROS2