Welcome to MicroROS Robot repository

Quickly Start Keyboard Control via Virtual Machine

Note: The virtual machine needs to be on the same local area network as the vehicle, and the ROS_DOMAIN_ID must match. Refer to the "Must Read Before Use" section to set the IP address and ROS_DOMAIN_ID on the board.

1. Start and Connect to the Agent

Taking the accompanying virtual machine as an example, enter the following command to start the agent:

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sudo docker run -it --rm -v /dev:/dev -v /dev/shm:/dev/shm --privileged --net=host microros/micro-ros-agent:humble udp4 --port 8090 -v4

Then, turn on the car switch and wait for the car to connect to the agent. A successful connection is shown in the following image:

2. Start the Keyboard Control Program

2.1 Code Paths

Virtual Machine Code Path:

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/home/yahboom/yahboomcar_ws/src/yahboomcar_ctrl/yahboomcar_ctrl

Jetson Nano Code Path:

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/root/yahboomcar_ws/src/yahboomcar_ctrl/yahboomcar_ctrl

Raspberry Pi Code Path:

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/root/yahboomcar_ws/src/yahboomcar_ctrl/yahboomcar_ctrl

2.2 Running Commands

For Raspberry Pi desktop and Jetson Nano desktop versions, you need to enter Docker first. In the terminal, type:

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ros2_humble.sh

The following interface indicates successful entry into Docker:

Then, enter the following in Docker:

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ros2 run yahboomcar_ctrl yahboom_keyboard

For example, using the accompanying virtual machine, you can directly enter the following in the terminal:

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ros2 run yahboomcar_ctrl yahboom_keyboard

Then, according to the instructions below, press the corresponding keys to control the car's movement:

【i】：Go forward 【,】：move back

【l】：Right rotation 【j】：left rotation

【u】：Turn left 【o】：Turn right

【m】：Reverse left 【.】：Reverse right