Scout

Setup CAN

If no can-utils is installed, install it.

# install can utils
sudo apt install -y can-utils

If this is the first time to bring up CAN interface, enable the gs_usb kekrnel module.

# enable kernel module: gs_usb
sudo modprobe gs_usb

Start CAN

# bring up can interface
sudo ip link set can0 up type can bitrate 500000

If your CAN port number is not 0, use user CAN port number rather than 0 in can0.

Oustere LIDAR

Connecting the Sensor

If directly connecting to the host machine you may need to set your Ethernet interface to Link-Local Only mode. This can be done via the command line or GUI.

GUI

Find Wired at Settings - Network.
Select the IPv4 tab.
Under IPv4 Method, select Link-Local Only

Launching Nodes

Sensor Mode

The driver parameters are at src/ouster-ros/ouster-ros/config/driver_params.yaml

sensor_hostname must be set to connect. Use the IP address or hostname of the sensor.

ros2 launch ouster_ros driver.launch.py

SLAM

https://roboticsbackend.com/ros2-nav2-generate-a-map-with-slam_toolbox/

DDS Configuration

There might be some issues with a default DDS. Consider using Cyclone DDS.

Install Nav2 and SLAM Toolbox

sudo apt install ros-humble-navigation2 ros-humble-nav2-bringup

sudo apt install ros-humble-slam-toolbox

Start Nav2 and SLAM Toolbox

Start your robot.

Start Nav2

ros2 launch nav2_bringup navigation_launch.py

Start SLAM Toolbox

ros2 launch slam_toolbox online_async_launch.py

Start RViz2

ros2 run rviz2 rviz2 -d /opt/ros/humble/share/nav2_bringup/rviz/nav2_default_view.rviz

Build a map

Make the robot move
```
ros2 run teleop_twist_joy teleop_node 
```

Save the map

ros2 run nav2_map_server map_saver_cli -f my_map

Navigation

https://husarion.com/tutorials/ros2-tutorials/8-slam/

Load a saved map

Load a map

ros2 run nav2_map_server map_server --ros-args -p yaml_filename:=map.yaml

Start map_server

ros2 run nav2_util lifecycle_bringup map_server

jrkwon/bmars_ws