Welcome to MicroROS Self-balancing Robot Car repository

Robot keyboard control

Note: The virtual machine needs to be in the same LAN as the robot, and the ROS_DOMAIN_ID needs to be consistent. You can check [Must Read Before Use] to set the IP and ROS_DOMAIN_ID on the board.

1. Start and connect the agent

Take the supporting virtual machine as an example, enter the following command to start the agent,

xxxxxxxxxx
sudo docker run -it --rm -v /dev:/dev -v /dev/shm:/dev/shm --privileged --net=host microros/micro-ros-agent:humble udp4 --port 8899 -v4

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. Start the keyboard control program

2.1 Code path

Code path:

xxxxxxxxxx
/root/yahboomcar_ws/src/yahboomcar_ctrl/yahboomcar_ctrl

2.2 Run command

Take the matching virtual machine as an example, terminal input,

xxxxxxxxxx
ros2 run yahboomcar_ctrl yahboom_keyboard

The keyboard key description is as follows,

2.3 Direction control