/c3pzero

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c3pzero

Navigation with c3pzero mobile base

Build

Build a new development image

export UIDGID=$(id -u):$(id -g); docker compose -f compose.dev.yml build --ssh default

Start an interactive development container

export UIDGID=$(id -u):$(id -g); docker compose -f compose.dev.yml run development

Build the repository in the container

username@c3pzero_siteconfig-dev:~/ws$ colcon build

The following ports are used to communicate with hardware

  • /dev/ttyACM0 for motor driver
  • /dev/ttyUSB0 for lidar

Run these commands to allow the drivers to talk to the hardware

sudo chmod 666 /dev/ttyACM0
sudo chown $USER /dev/ttyACM0
sudo chmod 666 /dev/ttyUSB0
sudo chown $USER /dev/ttyUSB0
sudo adduser $USER dialout

Linting

username@c3pzero_siteconfig-dev:~/ws$ pre-commit run -a

Requirements

Packages

We currently have the following packages, please refer to their individual README files for launch files and more information:

References