Two Month Optimized

Warning

This code is currently untested on hardware but parts of the code have been used on hardware in the past

Resources

Here are some important resources for Rover 2 month

Pico

Writing to the SD Card

ROS2

ROS2 Publisher and Subscriber Tutorial

Pin Assignments

Pin assignments can be easily updated to suit different hardware configurations.

Pin	Function

ROS 2

Make sure to source your ROS2 setup script

Building and Running a ROS2 Package

Run rosdep

Important

It is a good idea to run rosdep in the root of your workspace before building to ensure that no packages are missing

rosdep install -i --from-path src --rosdistro humble -y

Build your package

Run this from the root of your workspace (like ros2_ws)

colcon build --packages-select [packageName]

Source the Setup Files

source install/setup.bash

Start the talker node

ros2 run [package_name] talker

Like this:

ros2 run py_pubsub talker

The output may look like this:

[info] [minimal_publisher]: publishing: "hello world: 0"
[info] [minimal_publisher]: publishing: "hello world: 1"
[info] [minimal_publisher]: publishing: "hello world: 2"
[info] [minimal_publisher]: publishing: "hello world: 3"
[info] [minimal_publisher]: publishing: "hello world: 4"

Start the listener node

ros2 run [package_name] listener

Like:

ros2 run py_pubsub listener

The output may look like this:

[INFO] [minimal_subscriber]: I heard: "Hello World: 10"
[INFO] [minimal_subscriber]: I heard: "Hello World: 11"
[INFO] [minimal_subscriber]: I heard: "Hello World: 12"
[INFO] [minimal_subscriber]: I heard: "Hello World: 13"
[INFO] [minimal_subscriber]: I heard: "Hello World: 14"

My Packages

data_relay

This package takes takes the data received from the Pico over serial and publishes it. This package requires the device to be connected via serial or it will error.