Local connection

This page explain how to connect to the real robot with a laptop (not an Nvidia Jetson Nano).

This examples uses two USB devices:

• An RPLidar A2, and
• the iRobot Create 2

Table of contents

1. Configure Udev rules

   a. Create rules for iRobot Create 2

   b. Create rules for RPLidar A2

   c. Check rules

2. Open Docker image

3. Run example

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Configure Udev rules

You need to setup Udev rules so the Docker image can find the devices.

The .rules files are stored in ca_bringup/scripts/rules.

Create rules for iRobot Create 2

sudo cp roomba.rules /etc/udev/rules.d

Create rules for RPLidar A2

sudo cp rplidar.rules /etc/udev/rules.d

Check rules

sudo service udev reload
sudo service udev restart

After these steps, plug in the devices and check if you see /dev/roomba and /dev/rplidar as volumes in your PC.

If not, Docker won't be able to find them.

Open Docker image

To properly setup Docker in your computer, follow this guide.

Run example

This example creates a map from an unknown environment with SLAM Gmapping. Uses the RPLidar A2 as sensing device and not the IMU because the PC doesn't support I2C devices.

export RVIZ=true
export IMU=false
export LASER=rplidar
export LOCALIZATION=slam

roslaunch ca_bringup complete.launch