Welcome to MicroROS-Pi5 repository
当製品の日本語版マニュアル資料は、こちらからご取得ください。
1. Robot information release
Robot information release
Note: The ROS_DOMAIN_ID of the Raspberry Pi and the microROS control board need to be consistent. You can check [MicroROS Control Board Parameter Configuration] to set the microROS control board ROS_DOMAIN_ID. Check the tutorial [Connect MicroROS Agent] to determine whether the IDs are consistent.
1. Program function description
After the car is connected to the agent, it will publish sensor data such as radar and imu. You can run commands in the supporting virtual machine/Raspberry Pi 5 to query this information. You can also publish control data of sensors such as speed and buzzer.
2. Query car information
2.1. Start and connect to the agent
After successfully starting the Raspberry Pi, enter the following command to start the agent.
sh ~/start_agent_rpi5.sh
Then, turn on the car switch and wait for the car to connect to the agent. The connection is successful, as shown in the figure below.
2.2. Enter the car docker
Open another terminal and enter the following command to enter docker.
xxxxxxxxxxsh ros2_humble.sh
When the following interface appears, you have successfully entered docker. Now you can control the car through commands.
Enter the following command in the terminal to query the agent node.
xxxxxxxxxxros2 node list
Then enter the following command to query which topics the node has published/subscribed to,
xxxxxxxxxxros2 node info /YB_Car_Node
It can be seen that the topics subscribed are as follows
/beep：Buzzer control
/cmd_vel：Car speed control
/servo_s1：s1 servo gimbal control
/servo_s2：s2 servo gimbal control
Posted topics include:
/imu：imu module data
/odom：Odometer module data
/scan：Radar module data
We can also query the topic command and enter it in the terminal.
xxxxxxxxxxros2 topic list
2.3. Query topic data
Query radar data.
xxxxxxxxxxros2 topic echo /scan
Query imu data.
xxxxxxxxxxros2 topic echo /imu
Query odom data.
xxxxxxxxxxros2 topic echo /odom_raw
3. Publish car control information
3.1. Control the buzzer
First, query the relevant information about the following buzzer topics and enter it in the terminal.
xxxxxxxxxxros2 topic info /beep
Learn that the data type is std_msgs/msg/UInt16. Then enter the following command to turn on the buzzer and enter in the terminal.
xxxxxxxxxxros2 topic pub /beep std_msgs/msg/UInt16 "data: 1"
Enter the following command to turn off the buzzer, terminal input.
xxxxxxxxxxros2 topic pub /beep std_msgs/msg/UInt16 "data: 0"
3.2. Release speed control information
We assume that the released car moves at a linear speed of 0.5 and an angular speed of 0.2, and the terminal inputs instructions.
xxxxxxxxxxros2 topic pub /cmd_vel geometry_msgs/msg/Twist "{linear: {x: 0.5, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 0.2}}"
Set the car speed to zero
xxxxxxxxxxros2 topic pub /cmd_vel geometry_msgs/msg/Twist "{linear: {x: 0.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 0.0}}"
3.3. Control the gimbal servo
What needs to be noted here is that the range of s1 servo is [-90,90], and the range of s2 servo is [-90,20]. If the value exceeds the range, the servo will not rotate.
We assume that the s1 servo is controlled to rotate 30 degrees, and the terminal input is,
xxxxxxxxxxros2 topic pub /servo_s1 std_msgs/msg/Int32 "data: 30"
In the same way, to control the s2 servo to rotate -30 degrees, enter the following command on the terminal:
xxxxxxxxxxros2 topic pub /servo_s2 std_msgs/msg/Int32 "data: -30"
