RoboCar 1/10 X ROS2
Here you can find a RoboCar 1/10 X ROS2 driver and sample nodes sources demonstrating its basic usage. Releases also contain binary C++ Base Drivers which are used by the ROS nodes.
ROS2 was tested only with Ubuntu 20. Other versions are not supported yet.
The information about version changes can be found in ReleaseNotes.
Binary Packages [Robot Only]
Connect peripherals to the robot according to the User Manual. Boot, login, open browser, go to Releases and download the latest *.run files.
Please, note that robot code works only on NVIDIA AGX Xavier or AGX Orin (arm64), Ubuntu 20.
Base Drivers Installation
cd ~/Downloads
sh rc110_drivers_*.run
ROS and RC110 Core + Robot Nodes Installation
sh rc110_robot_*.run
System Check
Click on menu button and run "RoboCar 1/10" application.
Source Code
Fresh Installation
mkdir -p ~/ros/src
cd ~/ros/src
git clone https://github.com/zmp/robocar110_ros.git
cd ~/ros/src/robocar110_ros/ # make commands below are called from here!
Version Update
- Please, check Update Instructions.
- And don't forget to apply Release Notes Actions!
Check Versions
make version
- Tegra: full operation system version string
- JetPack (deb): jetpack version installed from debian package
- Base Driver: version of
rc110_drivers_*.run - ROS Nodes: version of nodes listed in
rc110_robot_*.run - Source Code: version of this source code
Robot Nodes
For this, you need a real RoboCar 1/10X. If you don't have one, try simulation described below.
(The graph can be a bit different.)
Remote Connection
Automatic remote connection to the robot is possible. The ROS version should be the same as on robot. Tested architectures: amd64, arm64.
Other Samples
When the driver is up and running, it's possible to start other ROS nodes that communicate with it.
| Group | Description |
|---|---|
| rc110_navigation | Not yet ported. |
| rc110_perception | Object Detection, etc |
Additional Information
- Windows Support
- Make Commands Explanation
- Details about Nodes Build
- Details about Runtime
- Multiple Robot Setup
- Contribution Guidelines
Discussions
It's possible to ask a question, propose an idea or just show your work at Discussions. Please, feel free to use japanese language, we will add translation to your message, if we consider it helpful for the community.
The benefit of Discussions is that you can get a feedback not only from the company stuff, but also from robot users who might give even better ideas.