Update repos

• sudo apt update
• sudo add-apt-repository universe
• sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(source /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
• sudo apt update

Create the dexi package (first time setup)

ros2 pkg create dexi --dependencies rclcpp --build-type ament_cmake

ROSBRIDGE

• sudo apt install ros-humble-rosbridge-server
• ros2 launch rosbridge_server rosbridge_websocket_launch.xml

Camera

Build

• cd /root/ros2_ws/src
• git clone https://github.com/Kapernikov/cv_camera
• cd /root/ros2_ws
• rosdep install --from-paths src -y --ignore-src
• colcon build

Run

• source install/setup.bash
• ros2 run cv_camera cv_camera_node

Web video server

Build

• cd /root/ros2_ws/src
• git clone https://github.com/RobotWebTools/web_video_server/
• cd web_video_server
• git checkout ros2
• cd ~/ros2_ws
• rosdep install --from-paths src -y --ignore-src
• colcon build

Run

• source install/setup.bash
• ros2 run web_video_server web_video_server

Micro DDS Client

Build

• cd ~/ros2_ws/src
• git clone https://github.com/eProsima/Micro-XRCE-DDS-Agent.git
• cd ~/ros2_ws
• colcon build

Run

• source install/setup.bash
• MicroXRCEAgent serial --dev /dev/ttyAMA0 -b 921600

PX4 ROS Messages and ROS Com Example

Build

• cd ~/ros2_ws/src
• git clone https://github.com/PX4/px4_msgs
• git clone https://github.com/PX4/px4_ros_com
• cd ~/ros2_ws
• colcon build

LED

GPIO

Docker Dev

New Container

• docker run -it -v ${PWD}:/root/ros2_ws/src osrf/ros:humble-desktop

Existing Container

• docker start 12b3e9d32467
• docker exec -it 12b3e9d32467 /bin/bash

Thanks

A special thanks to the following projects for inspiration:

• https://github.com/CopterExpress/clover
• https://github.com/StarlingUAS/clover_ros2_pkgs