Sunday, June 2, 2024

Pinky's Lighthouse

 After getting communication set up with the Raspberry Pi controller in this post, we are off to send and interpret sensor data with ROS2.

Cartographer is a good starting point. In my ROS2 docker container:
sudo apt install ros-$ROS_DISTRO-cartographer

It installs, but it looks like CARTOGRAPHER IS NOT SUPPORTED ON IRON...    I don't know why this package is available...

Moving on to nav2.

From inside the container, I can't launch GUIs. My working container must be committed to create a new image and re-run with the following:

sudo docker run -it \

    --privileged \

    -p 8888:8888/udp \

    --name c5cont \

    --env DISPLAY=$DISPLAY \

    --env QT_X11_NO_MITSHM=1 \

    --volume /tmp/.X11-unix:/tmp/.X11-unix \

    --cpus="3" \

    c5 /bin/bash

Then create a run file that has the following:
sudo docker start <container name>
xhost +local:docker
sudo docker exec -it <container name> /bin/bash

Also look into creating a dockerfile:

I'll have to reformat the data sent from the lighthouse IMU and laser distance sensor to mimic a lidar array.

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