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Serkan Mazlum edited this page Aug 11, 2024
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- Adding Packages to the System
cd Vehicle-Control-Sotfware
source /opt/ros/humble/setup.bash
source install/setup.bash # Instead of source, . can also be used.
- To avoid entering the
source ~/Vehicle-Control-Sotfware/install/setup.bash
command every time a new terminal is opened, these commands are written to the~/.bashrc
file.
echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc
echo "source .../Vehicle-Control-Sotfware/install/setup.bash >> ~/.bashrc
- Instead of running each code individually, the launch file is executed.
ros2 launch vehicle_control_software drive_launch.py
- If files are to be launched individually, the path to the params file should be provided during the launch.
ros2 run commander commander_node --ros-args --params-file /home/${USER}/Vehicle-Control-Sotfware/src/modules/vehicle_control_software/config/params.yml
- The control method is specified in the
control_unit
variable in the params file to control the vehicle. By default, it is set to keyboard control. If desired, it can also be controlled using a joystick or an ESP8266.
- Keyboard controls are as follows
w
a s d
x
- Joystick control: Control is achieved using the left joystick.
- ESP8266 control: Joy data is sent to the computer's serial port via an interface prepared using RemoteXY.
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To connect to the ESP8266 board, it is necessary to write the port to which the board is connected in the
file_name
variable in the params file. By default, it is/dev/ttyUSB0
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The RemoteXY application is downloaded to the phone, and to connect to the access point broadcasted by ESP8266, you connect to
joy
in the Wi-Fi section. The password is135798642
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Arduino Code nodemcu_esp8266.ino
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