ros2_beagle

Beaglebone Blue under ROS2

Description

The project includes the possibility of using the 8 servo outputs provided by the beaglebone blue board, as well as reading data from the MEMS MPU9250 under ROS2 Dashing and Ubuntu 18.04. The ROS2 driver for a generic Linux joystick is used to test the motors.

Due to the architecture of the processor on the beaglebone board, the installation of ROS2 was carried out using a script hosted in the project (ros2_dashing_ubuntu_arm32v7).

Requirements

• ROS2 Dashing Diademata or Eloquent Elusor.
• Ubuntu 18.04

Installation

$ git clone https://github.com/paagutie/ros2_beagle.git
$ cd ros2_beagle
$ source /home/beagle/ros2_dashing/install/local_setup.bash
$ colcon build

Usage

On the main Computer

$ source /opt/ros/dashing/setup.bash
$ ros2 run joy joy_node

On the Beaglebone Blue

To launch the nodes independently you can use the following commands as root user for each node respectively.

Terminal 1

:/home/beagle/ros2_beagle# source /home/beagle/ros2_dashing/install/local_setup.bash
:/home/beagle/ros2_beagle# source install/local_setup.bash
:/home/beagle/ros2_beagle# ros2 run beagle_io beagle_io_servos

Terminal 2

:/home/beagle/ros2_beagle# source /home/beagle/ros2_dashing/install/local_setup.bash
:/home/beagle/ros2_beagle# source install/local_setup.bash
:/home/beagle/ros2_beagle# ros2 run beagle_io beagle_io_imu

To launch the nodes using a ros2 launch file

:/home/beagle/ros2_beagle# source /home/beagle/ros2_dashing/install/local_setup.bash
:/home/beagle/ros2_beagle# source install/local_setup.bash
:/home/beagle/ros2_beagle# ros2 launch beagle_launch beagle_launch.py

License

• MIT