Welcome to PALMSLAM repository
1. Robot information release
Robot information release
Note: The virtual machine needs to be in the same LAN as the car, and the ROS_DOMAIN_ID needs to be consistent. You can view [Expansion Board Parameter Configuration] to set the IP and ROS_DOMAIN_ID on the board.
1. Program function description
After the car connects to the proxy, it will publish sensor data such as radar and imu. You can run commands in the matching virtual machine to query this information, and you can also control the data of sensors such as buzzers.
2. Query the car information
2.1. Start and connect the agent
If you are using the factory virtual machine system, you can enter in the terminal:
xxxxxxxxxxsh ~/start_agent_computer.sh
If you are using a third-party virtual machine system, you need to install the docker development environment first, and open the terminal to enter:
xxxxxxxxxxsudo 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, select the warning level and radar model, and wait for the car to connect to the proxy. The connection is successful as shown in the figure below.
2.2. Query the car node information
If it is the Raspberry Pi desktop version and the Jetson Nano and X5 desktop versions, you need to enter docker in advance and enter the terminal.
xxxxxxxxxxsh ~/ros2_humble.sh
When the following interface appears, it means that you have successfully entered docker.
Take the matching virtual machine as an example, enter the following command in the terminal to query the node,
xxxxxxxxxxros2 node list
Then enter the following command to query which topics the node has published/subscribed to,
xxxxxxxxxxros2 node info /YB_PLAMSLAM_Node
It can be seen that the subscribed topics are,
/beep: buzzer control
The published topics are,
/imu: imu module data
/scan: radar module data
We can also query the topic command, terminal input,
xxxxxxxxxxros2 topic list
2.3, query topic data
Query radar data,
xxxxxxxxxxros2 topic echo /scan
Query imu data,
xxxxxxxxxxros2 topic echo /imu
3. Release car control information
3.1. Control buzzer
First query the following buzzer topic related information, terminal input,
xxxxxxxxxxros2 topic info /beep
The data type is std_msgs/msg/UInt16. Then enter the following command to turn on the buzzer, terminal input,
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"