firmwareDeveloperEnvironment.md

Firmware Development Environment

Prerequisites

• Build and run the Agent Container

• Build and run the TeleopKey Container

• Install and run Thonny

Optional Components

• Build and run the ROS Console Container

• From the ROS Console, run the rqt GUI App

Suggested Screen layout

• Arrange terminals running the required containers, arrange them as a stacked array on the left hand side of the screen. A terminal program that supports splitting the window horizontally, makes window management easier

• Open the Thonny and arrange it on the top right of the screen

• Move the rqt bottom bottom right hand of the screen.

• Visual Code Studio can be loaded on another Desktop allowing you to switch from the compiler for the firmware, to the configuration to perform Python development.

• Sample Python code is located in the example directory

• The sample code can be loaded on the device by dragging it from the top (Local Directory) down to the device directory.

• To start the ROS System and register to receive /cmd_vel messages with the data type of geometry_twist