라즈베리와 ubuntu 환경, cyglidar 초기설정

ROS 설치

Ubiquity Robotics Downloads

Ubiquity Robotics Downloads

20년 11월껀 안되는 부분이 있다고 하여 20년 2월로 다운받음.

 

 

 

 

ros 설치 후 lidar 센서 초기환경 구축

GitHub - CygLiDAR-ROS/cyglidar_d1

 

초기 로그인, 비번 : ubuntu

login as: ubuntu
ubuntu@192.168.1.145's password:

$sudo apt-get update
$sudo apt-get upgrade

$ cd catkin_ws
$ catkin_make
$ cd src
$ git clone https://github.com/CygLiDAR-ROS/

$ roscd cyglidar_d1
$ cd scripts
$ chmod +x create_udev_rules.sh
$ ./create_udev_rules.sh 

 

launch 파일 변경

</launch>
$ ls
cyglidar.launch
$ nano cyglidar.launch

1) 기존 소스코드

<launch>
  <!-- Arguments -->
  <arg name="version" default="2" doc="version type [0, 1, 2]"/>
  <arg name="frequency_level" default="0" doc="level [0 to 15]"/>
  <arg name="pulse_control" default="0" doc="pulse mode [0, 1]"/> <!-- 0: Auto, 1: Manual -->
  <arg name="pulse_duration" default="10000" doc="duration [0 to 10000]"/>

  <node pkg="cyglidar_d1" type="cyglidar_pcl_publisher" name="line_laser" output="screen">
    <param name="port" value="/dev/cyglidar"/>
    <param name="baud_rate" value="3000000"/>
    <param name="frame_id" value="laser_link"/>
    <param name="fixed_frame" value="/map"/>

    <param name="version" value="$(arg version)"/>
    <param name="frequency" value="$(arg frequency_level)"/>
    <param name="pulse_control" value="$(arg pulse_control)"/>
    <param name="duration" value="$(arg pulse_duration)"/>
  </node>

  <node pkg="rviz" type="rviz" name="rviz" args="-d $(find cyglidar_d1)/rviz/cyglidar_config.rviz"/>
</launch>

 

2) 변경 뒤 소스코드

<launch>
    <node pkg="cyglidar_d1" type="cyglidar_pcl_publisher" name="line_laser" output="screen">
    <param name="port" value="/dev/cyglidar"/>
    <param name="baud_rate" value="3000000"/>
    <param name="version_num" value="0"/>
    <param name="frame_id" value="/laser_link"/>
    <param name="fixed_frame" value="/map"/>
    </node>

    <node pkg="rviz" type="rviz" name="rviz" args="-d $(find cyglidar_d1)/rviz/cyglidar_config.rviz"/>
</launch>

 

root 계정으로 실행

ubuntu@ubiquityrobot:~$ su
Password:
su: Authentication failure
ubuntu@ubiquityrobot:~$ sudo passwd root
[sudo] password for ubuntu:
Enter new UNIX password:
Retype new UNIX password:
passwd: password updated successfully
ubuntu@ubiquityrobot:~$ su
Password:
root@ubiquityrobot:/home/ubuntu#

root 권한에서 나오는 법

root@ubiquityrobot:/home/ubuntu# su - ubuntu
ubuntu@ubiquityrobot:~$

 

raspberry pi ubuntu wifi 연결 방법

apt-get update
apt-get upgrade -y
sudo apt-get install docker.io