README.md

Installation

Install UROS package to src/uros

• Documention
• builds src/uros

source /opt/ros/galactic/setup.bash
colcon build
ros2 run micro_ros_setup create_agent_ws.sh
ros2 run micro_ros_setup build_agent.sh
source install/local_setup.bash

Install Udev Rules

Add follwoing rules to /etc/udev/rules.d/92-scratch.rules:

SUBSYSTEM=="tty", ATTRS{idVendor}=="16c0", ATTRS{idProduct}=="0483", SYMLINK+="ttyUROS"
# usb port 4 (via hub)
SUBSYSTEMS=="usb", ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="ea60", ATTRS{devpath}=="4.*", SYMLINK+="ttyLOG"
# usb port 2 (direct port)
SUBSYSTEMS=="usb", ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="ea60" ATTRS{devpath}=="2" SYMLINK+="ttyLIDAR"

and run sudo sh -c "udevadm control --reload-rules && udevadm trigger"

Install Intel Realsense Package

sudo apt-get install ros-$ROS_DISTRO-realsense2-camera

Install XBox Controller

sudo apt install ros-$ROS_DISTRO-joy-linux
sudo apt install ros-$ROS_DISTRO-teleop-twist-joy
sudo usermod -aG input $USER
sudo reboot

Source

source /opt/ros/galactic/setup.bash
source install/local_setup.bash

Launch

ros2 launch scratch scratch.py
ros2 launch scratch scratch_view.py