RoboMaster Control System based on ROS2.
使用脚本，一键配置开发需要的软件包和插件
# 拉好镜像，配置好 Devcontainer，进入工作目录
cd /workspaces/rmcs
# 执行脚本
./script/setup.sh
# 构建程序并加载构建结果至当前终端环境中
source ./script/build.sh这些是常见指令
# 添加ros2的环境变量到当前终端中
source /opt/ros/humble/setup.zsh
# ros2包的依赖自动安装
# cd /path/to/develop_ws/
sudo rosdep install --from-paths src --ignore-src -r -y
# ros2包的构建
# cd /path/to/develop_ws/
colcon build --merge-install
# 加载ros2包的环境变量
# cd /path/to/develop_ws/
source ./install/setup.zsh
# RoboMaster，启动！
ros2 launch rmcs_bringup sentry.yamlTODO .
ubuntu-serverssh-serverdocker
将netplan配置中的renderer修改成NetworkManager即可使用nmcli工具
使用前记得下载：sudo apt install network-manager
装系统时会连接网络，下面的配置或许会有wifi的连接配置，保留即可，你也不想让你的设备不能联网吧
network:
renderer: NetworkManager
ethernets:
eno1:
optional: true
dhcp4: true
version: 2
wifis: {}在终端中输入：nmtui，后续配置可能会遇上没有权限的情况，使用sudo启动即可
┌─┤ NetworkManager TUI ├──┐
│ │
│ Please select an option │
│ │
│ Edit a connection │
│ Activate a connection │
│ Set system hostname │
│ │
│ Quit │
│ │
│ <OK> │
│ │
└─────────────────────────┘
进入Edit a connection，选择网卡对应的连接，把IPv6 CONFIGURATION修改成<Link-Local>即可，记得选择 OK 哦
接着输入回到终端输入nmcli查看对应网卡设备的local-link，当然，ifconfig，和ip a都可以
inet6 fe80::1e83:41ff:fec3:ce3/64
这个fe80开头的就是，我们用这个链接就可以进行ssh，只要两台设备在同一局域网，或者连上了网线就能连接
ssh creeper@fe80::2e0:4cff:fe60:11d5%eno1
^^^^^^^^^^^^^^^^^^^^^^^^ ^^^^
local-link去掉‘/64’ 连接用网卡
# in /etc/netplan/****.yaml
network:
renderer: networkd
version: 2
ethernets:
enp1s0:
optional: true # optional enable
set-name: mid-360
addresses: [192.168.1.50/24]
match:
macaddress: xx:xx:xx:xx:xx:xx
# 这是需要增加的网卡设备
enx6c1ff703689c: # device name
optional: true # optional
set-name: xxxxxx # name
addresses: [xxx.xxx.xxx.xxx/24] # static ip address + /24
match: # match:
macaddress: xx:xx:xx:xx:xx:xx # mac address
wifis:
wlp2s0:
optional: true # optional enable
access-points:
AllianceTeam5.8G:
password: rm-alliance.icu
dhcp4: true# After you set local ip to 192.168.234.1
# And check what is the name of your ethernet device
docker run -it --rm --privileged --network=host qzhhhi/dhcp-server eno1@todo(creeper) adapt link-local
# Set remote ip
set-remote 192.168.234.2
# ssh
ssh-remote
# Copy the install directory to remote
# TODO: Remove directory restrictions
sync-remoteTo make Ubuntu1 regarded as gateway, edit the /etc/netplan/***.yaml. A possible version is shown below.
# Let NetworkManager manage all devices on this system
network:
ethernets:
ens32: ## network card name
dhcp4: false
addresses:
- 192.168.234.5/24 ## set static IP
routes:
- to: default
via: 192.168.234.1 ## gateway
version: 2
Assuming that Ubuntu 1 has wlp4s0 connected to Internet and eno1 connected to NUC, Run commands below in Ubuntu 1 to create a soft route.
sudo iptables -A FORWARD -i eno1 -o wlp4s0 -j ACCEPT
sudo iptables -A FORWARD -i wlp4s0 -o eno1 -m state --state ESTABLISHED,RELATED -j ACCEPT
sudo iptables -t nat -A POSTROUTING -o wlp4s0 -j MASQUERADE- Pull or load images
- Online
sudo docker pull qzhhhi/rmcs-runtime - Offline
sudo docker load -i rmcs-runtime.tar- Start with NUC
sudo vi /etc/init.d/rmcs-runtime.sh
Type content below
### BEGIN INIT INFO
# Providers: rmcs-runtime.sh
# Description: run rmcs runtime environment
### END INIT INFO
systemctl start docker
docker run --restart=always --privileged --network=host -v /dev:/dev qzhhhi/rmcs-runtimePS:
### BEGIN INIT INFOand### END INIT INFOare required.
sudo chmod 775 rmcs-runtime.sh
sudo update-rc.d rmcs-runtime.sh defaults 90 source /opt/ros/humble/setup.bash
ros2 topic pub -1 /gimbal/calibrate std_msgs/msg/Int32 "{'data':1}"
cat /rmcs.launch.outsource /opt/ros/humble/setup.bash
ros2 topic pub -1 /imu/calibrator std_msgs/msg/Int8 "{'data':1}" # Start calibrating
ros2 topic pub -1 /imu/calibrator std_msgs/msg/Int8 "{'data':0}" # Finish calibrating
cat /rmcs.launch.outPS: All control should be disabled when calibrating.
- Check out Pid and Vid.
lsusb | grep DECXINAs shown below, Pid is 2cd1 while Vid is 1bcf.
Bus 003 Device 011: ID 1bcf:2cd1 Sunplus Innovation Technology Inc. DECXIN CAMERA
- Check out port.
udevadm info --attribute-walk --name=/dev/video2 | grep "KERNEL"As shown below, port is "3-2".
KERNEL=="video2"
KERNELS=="3-2:1.0"
KERNELS=="3-2"
KERNELS=="usb3"
KERNELS=="0000:36:00.4"
KERNELS=="0000:00:08.1"
KERNELS=="pci0000:00"
- Edit udev rules
sudo gedit /etc/udev/rules.d/omni.rules Type rules below
KERNEL=="video*",KERNELS=="3-2", ATTRS{idProduct}=="2cd1", ATTRS{idVendor}=="1bcf", MODE:="0777", SYMLINK+="leftfront"
KERNEL=="video*",KERNELS=="3-1", ATTRS{idProduct}=="2cd1", ATTRS{idVendor}=="1bcf", MODE:="0777", SYMLINK+="rightfront"
KERNEL=="video*",KERNELS=="3-3", ATTRS{idProduct}=="2cd1", ATTRS{idVendor}=="1bcf", MODE:="0777", SYMLINK+="left"
KERNEL=="video*",KERNELS=="3-4", ATTRS{idProduct}=="2cd1", ATTRS{idVendor}=="1bcf", MODE:="0777", SYMLINK+="right"
- Refresh
sudo udevadm control --reload-rules && sudo udevadm trigger