Fix error

Fix zsh_history

chmod +x ./fix_zsh.sh
./fix_zsh.sh

Fix I2C

• First time:

chmod +x ./fix_i2c.sh 
./fix_i2c.sh

• Next time:

sudo pip install python-can --force-reinstall

ROS2

cd auto_car

Python environment

pip install -r requirements.txt

Config connect

Edit file .env:

SERVER_SOCKETIO=http://192.168.200.184:5001
SERVER_RTMP=rtmp://192.168.200.184:1935
ID=robot1
NAME=1234

SERVER_SOCKETIO and SERVER_RTMP: you must change the IP address to the server’s IP address.
ID: you must change the ID of robot. It is unique for each robot.

Build node

colcon build

Check auto_car node

ros2 pkg list

or

ros2 pkg executables

Setup env

source ./install/setup.zsh
export ROS_DOMAIN_ID=id

Different id for each car.

Check GPS device

ls /dev/ttyUSB*

Output: /dev/ttyUSB1 -> GPS device has connected.

Debug

• Permission:

sudo chmod +x 666 /dev/ttyUSB1

• Run 4 commands with each terminal:

ros2 run auto_car gps
ros2 run auto_car socketio
ros2 run auto_car planning
ros2 run auto_car controller

To stop, press Ctrl+C and wait for the terminal to show "Node stopped!"

All-in-One:

• Just run 1 command instead of running the commands as above:

ros2 launch auto_car auto_car.launch.py

• Show log in other terminal

ros2 topic echo /rosout

Version:

• gps: device 1.
• gps_new: device 2.
• planning: based on successive GPS data.
• planning_new: based initial GPS data.

Color:

• error_gps_color: Purple
• auto_stop_color: Blue
• places_empty_color: Pink
• arrived_colors: White
• straight_color: Green
• block_colors: Red