karaburan

Load ROS 2: source /opt/ros/jazzy/setup.bash

Navigate to ROS workspace: cd ros_ws

Temperature sensor

Build and run temperature sensor node (my SensorID): colcon build && source ./install/setup.bash && ros2 run tempreader tempreaderNode --ros-args -p sensorId:=28.C23646D48524 &

Launch GPSD client node: ros2 launch gpsd_client gpsd_client-launch.py &

Install ros-jazzy-gpsd-client

Read fixes from GPS: ros2 topic echo /fix

Read temperature: ros2 topic echo /temperature

Boat total setup launch file

This currently works on My Machine TM (use the generic instructions at the top first): colcon build && source install/setup.bash && ros2 launch navigation boat.launch.py

Replace boat.launch.py with sim.launch.py for the simulated stuff (laptop only! Requires GUI!)

Manual control via partial setup

The current setup does not provide /cmd_vel commands other than 'stop'. So you can try to do that yourself:

# Forward
ros2 topic pub -r 10 /cmd_vel geometry_msgs/msg/Twist "{linear: {x: 0.2}, angular: {z: 0.0}}"
# Turn left
ros2 topic pub -r 10 /cmd_vel geometry_msgs/msg/Twist "{linear: {x: 0.0}, angular: {z: 0.5}}"
# Stop
ros2 topic pub -1 /cmd_vel geometry_msgs/msg/Twist "{linear: {x: 0.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 0.0}}"

# Useful checks:
ros2 topic info /cmd_vel
ros2 interface show geometry_msgs/msg/Twist
ros2 topic echo /cmd_vel
ros2 topic list | grep cmd_vel

# Keyboard-control:
ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r cmd_vel:=/cmd_vel

Installation of ROS2 packages

Currently the following packages have been installed (these will introduce many dependencies, list generated with apt-mark showmanual > ~/manual-packages.txt: ros-dev-tools ros-jazzy-gps-tools ros-jazzy-gpsd-client ros-jazzy-mapviz-interfaces ros-jazzy-nav2-bringup ros-jazzy-nav2-waypoint-follower ros-jazzy-navigation2 ros-jazzy-robot-localization ros-jazzy-ros-base ros-jazzy-ros2-control ros-jazzy-ros2-controllers ros-jazzy-tf-transformations ros-jazzy-ros-gz ros-jazzy-rviz2 ros2-apt-source