rc-hardware

Hardware and sensor interfacing for RC cars.

Installation

This module requires a recursive clone to build. The encoder firmware is in a separate repo so that it can be isolated and put on the arduino.

git clone --recursive [email protected]:cornellev/rc-hardware.git

Dependencies

rc_hardware_sensors depends on rc_localization_odometry for certain message types. You must have rc_localization_odometry cloned/installed before you begin.

You also must have rosserial, rosserial_arduino, and ackermann_msgs installed.

sudo apt-get install ros-noetic-rosserial
sudo apt-get install ros-noetic-rosserial-arduino
sudo apt-get install ros-noetic-ackermann-msgs

Building

1. catkin_make as usual.
2. Run catkin_make rc_hardware_sensors_firmware_firmware-upload to upload the firmware.

Running

1. Make sure all of your shells are sourced with devel/setup.bash in your workspace.
2. Make sure the port you are using is accessible and that you have read/write permissions sudo chmod a+rw /dev/ttyUSB0 (if running on a rpi, this step may be unnecessary.)
3. rosrun rosserial_python serial_node.py /dev/ttyUSB0 to connect the Nano to roscore running on your computer.