Henes T870 ROS2 Humble packages

If you have any suggestions or issues, please contact me using the information below.

• Author : Minkyu Kil (Sejong Univ. AIV, Graduation : 2026.02)
• Contact : mgkilprg@gmail.com

Package overview

For more information about the package, please read the README.md at the link below.

• T870 RQT Plugin : t870_rqt_plugin

• T870 ROS2 communication interfaces : t870_msgs

• T870 ROS2 serial driver : t870_serial

Docker

For developers who want to develop in a virtual environment.

Build

# At your workspace directory  

$ ./docker_build.sh

# If you're using a Korean network, the options below will help build your image faster.
# Otherwise, remove them.

RUN sed -i \
    -e 's|http://archive.ubuntu.com/ubuntu|http://mirror.kakao.com/ubuntu|g' \
    -e 's|http://security.ubuntu.com/ubuntu|http://mirror.kakao.com/ubuntu|g' \
    /etc/apt/sources.list

Launch docker container

# At your workspace directory  

$ . docker/docker_run.sh

Conatiner Launch Script : Device Mounting

# Henes T870 serial port mounting to docker container (e.g. T870_SERIAL_PORT="/dev/ttyUSB0")  

T870_SERIAL_PORT="YOUR_DEVICE_PORT"

Conatiner Launch Script : GPU Options

# If you have an Nvidia GPU, keep the options below, otherwise remove them.

-e NVIDIA_VISIBLE_DEVICES=all
-e NVIDIA_DRIVER_CAPABILITIES=all
--runtime=nvidia 
--gpus all

Dependencies

Automatic Installation

$ rosdep install --rosdistro humble --from-paths src --ignore-src -r -y