PicarX ROS2 Project

Overview

This repository contains a ROS2 project for the PiCarX robot from SunFounder (see https://docs.sunfounder.com/projects/picar-x-v20/en/latest/). I swapped the camera for the Raspberry Pi AI camera.

Table of Contents

• Overview
• Project Structure
• Prerequisites
• Installation
• Sample command lines
• Acknowledgements

Project Structure

The repository is organized as follows:

• picarx/ - Custom ROS2 packages and nodes for PiCarX control, sensors, and integrations.
• src/ - Unmodified upstream ROS2 source and third-party packages.
• scripts/ - Utility scripts, including ROS2 setup and build scripts.
• install/, build/, log/ - ROS2 workspace build artifacts (created after building).
• config/ - Configuration files for nodes and launch files.

Prerequisites

• Raspberry Pi running Raspberry Pi OS (tested on Raspberry Pi 5, Bookworm).
• User account with sudo permissions.
• git installed: sudo apt install git.
• Sufficient free disk space and internet connection.

Installation

1. Clone this repository:

   git clone https://github.com/gzub/ros2-picarx.git
   cd ros2-picarx

2. Run the setup script:
   The scripts/setup-ros.sh script will:

   • Install ROS2 and all required dependencies.
   • Clone and set up required ROS2 control packages.
   • Build the workspace using colcon.
   • Optionally install extra drivers and utilities.

   ./scripts/setup-ros.sh

   Note: The script may take several hours to complete on a Raspberry Pi 5.