Differential Drive Robot

A ROS1 differential drive robot with LiDAR. I built and programmed this robot from scratch with the aim of learning ROS!

Pictures

The robot: DC motors with encoders, Raspberry pi 4, 2 Arduinos Nano, DIY LiDAR.
Map from SLAM performed by ddbot! Map isn't really clean, but still great considering the LiDAR is DIY.

rosserial_arduino error workaround

Check https://answers.ros.org/question/361930/rosserial-arduino-compilation-error-no-cstring/?answer=382803#post-id-382803 (Yash Sahu answer)

Attach / detach a USB peripherial to WSL

usbipd wsl list usbipd wsl attach --busid 1-2 usbipd wsl detach --busid 1-2

And before using it: sudo chmod 666 /dev/ttyUSB0

Network configuration for Raspberry Pi + workstation

Raspberry Pi's hostname : ddrobot

SSH : ssh ubuntu@ddrobot Change hostname : https://www.pragmaticlinux.com/2021/05/how-to-change-the-hostname-of-your-raspberry-pi/

Run this on each machine to share roscore

export ROS_MASTER_URI=http://ddbot:11311

Before launching robot nodes :

Run $(rospack find ddbot_run)/scripts/find_usb_devices.py

And source $(rospack find ddbot_run)/scripts/set_usb_ports.bash

Adding this to .bashrc may be convenient : 

test -f $(rospack find ddbot_run)/scripts/set_usb_ports.bash && source $(rospack find ddbot_run)/scripts/set_usb_ports.bash

Setup SSH RSA keys to use launch files to run nodes on distant robot

https://www.digitalocean.com/community/tutorials/how-to-set-up-ssh-keys-on-ubuntu-1804-fr

And place commands to init ROS in a file ~/setup_ros.bash instead of ~/.bashrc

Run

In simulation

roscore

roslaunch ddbot_gazebo simulation.launch

roslaunch ddbot_run robot_core_rviz.launch no_lidar:=true no_remote:=true sim:=true

roslaunch ddbot_teleop teleop_keyboard.launch