bmkbot

Mobile Robot Platform for Education Using ROS2 SIM & REAL

Artduino install - PC

 sudo apt-get install arduino

install & build - PC & SBC

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YD LiDAR install

1. install build dependecies

sudo apt install cmake pkg-config python3 python3-pip swig -y

2. build SDK from source

cd ~
git clone https://github.com/YDLIDAR/YDLidar-SDK.git
mkdir YDLidar-SDK/build 
cd YDLidar-SDK/build
cmake ..
make
sudo make install

3. install python API

cd ~/YDLidar-SDK
pip install .

driver install

cd ~/ros2_ws/src
git clone -b humble https://github.com/YDLIDAR/ydlidar_ros2_driver.git
cd ~/ros2_ws
colcon build --symlink-install
source install/local_setup.bash
source install/setup.bash

MCU install

pip3 install pyserial 

TTS install

pip3 install gtts playsound
pip3 install pydub

Cartographer SLAM launch

ros2 launch bmkbot_bringup bmkbot_bringup.launch.py

ros2 launch bmkbot_cartographer cartographer_slam.launch.py

Nav2 launch

ros2 launch bmkbot_bringup bmkbot_bringup.launch.py 

ros2 launch bmkbot_nav2 nav2.launch.py