A work in progress using a Steam Deck to controll a rover with ROS2. More details to come.
Contact braden@arkelectron.com for questions
Distrobox Ubuntu 20.04 container with ROS2 Galactic Distrobox Ubuntu 22.04 container with ROS2 Humble
On our steam deck we've installed distrobox and set up two different containers. More info on how to do that here
To enter distrobox run
distrobox-enter ubuntu-20.04
On the steam deck clone the package into your ROS2 workspace. You also need the px4_msgs package.
colcon build
source install/setup.bash
Now run the one launch file
ros2 launch ark_rover steam_deck.launch.py
In a new console open a new distrobox container
distrobox-enter ubuntu-22.04
source /opt/ros/humble/setup.bash
Install and run Foxglove Bridge
sudo apt install ros-humble-foxglove-bridge
ros2 launch foxglove_bridge foxglove_bridge_launch.xml
Go to this link to open Foxglove and open a Foxglove Websocket
On the Jetson clone the package into your ROS2 workspace. You also need the px4_msgs package and the depthai-ros package. It's very important that you are on the Galactic branch. Run
colcon build
source install/setup.bash
Now run the one launch file
ros2 launch ark_rover jetson.launch.py
- Arm/Disarm - A
- Throttle - Left Stick Y
- Steering - Right Stick X
- Low Gear - D-Pad Down (Default)
- High Gear - D-Pad Up
- Unlocked Differential - D-Pad Left (Default)
- Locked Differential - D-Pad Right