Here is tutorial how to build ROS packages in your ROS environment on Turtle Rover
First connect your device to Turtle Rover's console via SSH
Next step is to establish Internet connection or plug-in Turtle Rover's RaspberryPi directly to your router
Make sure if catkin workspace has been created correctly.
First install git tools in your environment to has possibility to clone repository from TurtleRover GitHub
$ sudo apt update$ sudo apt install git
Next you need to move to /turtle_ws/src folder and clone repository there.
$ ~/turtle_ws/src$ git clone https://github.com/TurtleRover/tr_ros.git
Install system dependencies of downloaded packages with the rosdep tool
$ rosdep install --from-paths src --ignore-src
Move to turtle_ws directory and build packages in your workspace.
$ ~/turtle_ws$ catkin_make
Now your rover is ready to development with ROS. In this paragrahp we will show you how to use our packages.
Run ROS master on RaspberryPi.
Run first node called tr_hat_bridge to open communication between RaspberryPi and shield via UART.
$ rosrun tr_hat_bridge tr_hat_bridge
Next step is to run node responsible for rover's control.
$ rosrun tr_control tr_control
Type command below to see all runing nodes and active topics.
$ rosnode list$ rostopic list
Check if nodes works correctlly subscribing message to topic /tr_hat_bridge/motors.
$ rostopic pub /tr_hat_bridge/motors tr_hat_msgs/MotorPayload [50,50,50,50]