Developing Self Driving with Jetson Nano

Main topic: Setting Up the EnvironmentUpdate and Upgrade the SystemSurely, Open a terminal and input command belowInstall Ros2 FoxyBelow command is th

Use the rplidar_ros package to interface with the RPLIDARBut, \*This code doesn't support in ros2 (developed in ros1 is still working)So, Enter the c

In order to develop the usb serial communication between ESP32 and Jetson Nano, I make custom Ros2 node. Actually, I was going to make node from " gi

Previous chapter, [ Could not open serial port '/dev/ttyUSB0' ] in "serial_node.py" code for custom serial communication node In case already connect

Before setup, we setup just on jetson nano So, we are going to set esp32 dev module. Development env Jetson Nano B01 ESP32-WROOM_32D Arduino IDE Com

error. I decide to reset.

Excessive porting during package installation made it difficult to proceed with ros2 foxy anymore So, reset and change to ROS1! noetic with new imu s

Why I decide to use Ros1. AND reset

1. Install Ubuntu 20.04 in Jetson Nano 1. Preparations Jetson Nano B01 4GB microSD , 32GB SD card reader Ubuntu 20.04 Image download 2. Install Ubun

1.1 Install ROS Noetic First, make sure your Jetson Nano is running Ubuntu 20.04. Then, set up the ROS Noetic repository and install it. Setup sourc

2.1 Install RPLIDAR ROS Package We'll use the official RPLIDAR ROS package. Create a workspace if not already created Clone the RPLIDAR ROS package

3.1. Hardware ConnectionThe MPU9250 can communicate via either I2C or SPI. For simplicity and broad compatibility, we'll use I2C.3.1.1. Wiring the MPU

Change to 6-axis IMU Sensor. In Jetson Project#4, We successfully tested the Rplidar A1 with changed this code. And in Rviz, Add LaserScan, edit "

Part 3: Install Necessary Software Libraries To interact with the MPU6050 via I2C in Python, install the required libraries. 3.1. Install Python Lib

Launch the MPU6050 IMU Node and Visualize in RViz 5.1. Create a Launch File for the IMU Node Navigate to the Launch Directory: Create the mpu6050

Following the previous post, I want to visualizing.

In past post, rosnode and rostopic list doesn't show the "/imu/data_raw" So, I tried again to resolve this. STEP 1. Corrected mpu6050_publisher.py S

Last post, I resolved "rostopic issue"(with an unnecessary thing). So, let's Visualizing IMU data! First terminal Second terminal Third terminal

For accurate localization and navigation, it's essential to correctly configure the TF (transform) frames in ROS. 6.1. Create a TF Broadcaster Node (

This post, I configure the ESP32 microcontroller to control robot's motors based on commands received from ROS. We'll establish serial communication b

With motor control established, Now implement obstacle avoidance by subscribing to the LIDAR's "/scan" topic and publishing motor commands based on de

5.2. Integrate with Existing Nodes Ensure that all necessary nodes are running simultaneously: Terminal 1: Launch roscore (if not already running)

6.1. Creating a TF Broadcaster Node We'll create a TF broadcaster to link the IMU frame (imulink) to the robot's base frame (baselink). Navigate to

Part7: Integrating All Components(Node && Launch) and Testing With all individual components set up, it's time to integrate them and perform comprehe

7.3 Automating Launch with a Master Launch File To simplify launching all nodes, create a master launch file that includes all necessary components.

Part 8: Implementing Cartographer SLAM 8.1. Install Cartographer ROS Install Dependencies: Create a New Workspace for Cartographer: Initialize wsto

I can't deal with cartograher anymore.. +) I only need 2D slam So, change to "Hector SLAM" Implementing Hector SLAM Hector SLAM is a popular 2D SLAM

8.4. Configuring Autonomous Mapping To map the entire space, we'll enable the robot to autonomously navigate while building the map. 8.4.1. Create a

Part 9: Autonomous Navigation Using the Saved Map Now that you have a map of the environment, we'll set up the robot to autonomously navigate within

Part 1: Installing ROS Noetic on Ubuntu 20.04To begin developing with ROS Noetic on Ubuntu 20.04, you'll need to install it on your Jetson Nano B01. H

Part 3: Configuring RPLidar A1 with Modified Launch File In this section, we'll set up the RPLidar A1 on your Jetson Nano B01. We'll clone the rplidar_ros package, modify the launch file as per your ...

command *terminal 1 *terminal 2 if you want save current map, command this +) initialize server with public domain ++) and launch this script +++) ![](https://velog.velcdn.com/images/m