Setup

Install ros2 Jazzy on Ubuntu 24.04

Dependencies

Install RosDep

apt-get install python3-rosdep

Initialize DependenciesInstall RosDep

sudo rosdep init
rosdep update

Install/Update Dependencies

rosdep install --from-paths src -y --ignore-src

Build

colcon buld # initializes build, install, and log file ignored on github

Source

source install/local_setup.sh # sources dependencie, build files, etc.

Launch Scripts

Drivetrain Launch

Activates nodes for drivetrain only

• main_drive
• main_joy

ros2 launch launch/drive_launch.py

Full Launch

Activates broker publisher, sensor nodes, drivetrain, and autonomy

• main_drive
• main_joy
• autonomous
• sensor
• 4x broker [can_ids 15-18]

ros2 launch launch/main_launch.py

LiDAR

Test script to launch LiDAR, uncomment RVIZ section to see visual model

• unitree_lidar_ros2

ros2 launch launch/lidar_launch.py

NOTE: Won't work unless /dev/ttyUSB0 has full perms. For example, if on linux do sudo usermod -a -G dialout $USER to give serial ports same permissions as user.