Art + Robotics Research LAB | Site-Wide Activity

cjheller posted a new topic "Battery" -

Fri, 27 Feb 2026 19:47:49 +0000

eunsun replied to the topic "code" -

Fri, 27 Feb 2026 19:30:57 +0000

roboclaw_node.py #!/usr/bin/env python import diagnostic_updater import rclpy from geometry_msgs.msg import Twist from rclpy.node import Node from tcr_roboclaw import Roboclaw from .electrical_wrapper import ElectricalWrapper from .encoder_wrapper import EncoderWrapper from . import utils as u __author__ = “bwbazemore@uga.edu (Brad Bazemore)”…Read more

eunsun replied to the topic "code" -

Fri, 27 Feb 2026 19:29:11 +0000

encoder_wrapper.py from math import cos, pi, sin, fmod from tcr_roboclaw import Roboclaw from rclpy.node import Node from geometry_msgs.msg import Quaternion, TransformStamped from nav_msgs.msg import Odometry from roboclaw_msgs.msg import EncoderState from tf_transformations import quaternion_from_euler from tf2_ros import TransformBroadcaster…Read more

eunsun posted a new topic "code" -

Fri, 27 Feb 2026 19:26:46 +0000

from roboclaw_msgs.msg import MotorState from tcr_roboclaw import Roboclaw from rclpy.node import Node from copy import deepcopy class ElectricalWrapper: def __init__(self, node: Node, driver: Roboclaw, pub_elec: bool, swap_motors: bool): “””Electrical Wrapper Args: node (rclpy.node.Node): ROS 2 node driver (tcr_roboclaw.Roboclaw): RoboClaw…Read more

eunsun replied to the topic "Get ROS2 Jazzy docker image on Jetson" -

Fri, 27 Feb 2026 18:51:02 +0000

In Local terminal

xhost +local:root

Docker image start

sudo docker start -ai robot_10_jazzy

sudo docker exec -it robot_10_jazzy bash

source /opt/ros/jazzy/install/setup.bash
source /ws_big_robot/ws_big_robot/install/setup.bash

qiancai posted a new topic "Connecting LIDAR while not disconnecting the Roboclaw" -

Fri, 20 Feb 2026 19:05:36 +0000

When we first connected the LIDAR to Jetson through USB-A (serial), the motors stopped moving and teleop stopped working because the connection of the LIDAR suspended the connection of the other USBs. The connection activity can be seen by doing… Read more»

tanya replied to the topic "Autonomous Exploration" -

Fri, 13 Feb 2026 19:44:36 +0000

If m-explore doesn’t work, try installing nav2_wfd explore. clone it build it run: ros2 run nav2_wfd explore It computes frontier centroids from the OccupancyGrid and invokes Nav2 waypoint follower. Install cd ~/ws_big_robot/src git clone https://github.com/SeanReg/nav2_wavefront_frontier_exploration.git cd ~/ws_big_robot rosdep update rosdep……Read more

tanya posted a new topic "Autonomous Exploration" -

Fri, 13 Feb 2026 19:44:32 +0000

tanya posted a new topic "Using SLAM Toolbox + Nav2 with RPLIDAR A1" -

Fri, 13 Feb 2026 07:15:25 +0000

The following must be running correctly: RPLIDAR publishes /scan (LaserScan) TF tree is complete: map –> odom –> base_link –> laser SLAM toolbox publishes /map and map –> odom Nav2 runs without AMCL + without map_server while you are mapping… Read more»

qiancai replied to the topic "Roboclaw + ROS2 Setup" -

Thu, 12 Feb 2026 22:24:33 +0000

To use teleop keyboard (only key I and O works right now):
In terminal:
ros2 run teleop_twist_keyboard teleop_twist_keyboard –ros-args –remap cmd_vel:=/twist_mux/cmd_vel
Reference: see google doc for robotic mouse project: Teleop_keyboard_operation

joys posted a new topic "ICM 20948 Connections to RaspiV" -

Fri, 06 Feb 2026 19:22:27 +0000

joys posted a new topic "ICM 20948 Connections to RaspiV" -

Fri, 06 Feb 2026 19:18:25 +0000

Connect pins from GND,Vin, SCL and SDA to the GPIO pins on on RaspiV, corresponding to the Gnd, 3.3V, SCL and SDA as required. The images below are the pins necessary for connections. Screenshot-from-2026-02-06-11-17-19.png

eunsun posted a new topic "Roboclaw + ROS2 Setup" -

Thu, 05 Feb 2026 22:42:43 +0000

CES8600 posted a new topic "Install SSD and How to use SSD as storage driver" -

Fri, 23 Jan 2026 20:43:27 +0000

1. Confirm what’s being used for root Run this on your Jetson: df -h / You’ll see something like: Filesystem Size Used Avail Use% Mounted on /dev/mmcblk0p1 119G 42G 77G 36% / → This… Read more»

tanya posted a new topic "Navigation and Localization in RViz + Gazebo (with premade map from SLAM)" -

Fri, 23 Jan 2026 19:26:43 +0000

tanya replied to the topic "Navigation and Localization in RViz + Gazebo (with premade map from SLAM)" -

Thu, 22 Jan 2026 03:38:04 +0000

Navigation + Localization Launch Gazebo (terminal 1): ros2 launch big_robot_gazebo launch_sim.launch.xml Launch both localization and navigation (terminal 2): ros2 launch big_robot_navigation bringup_launch.xml use_sim_time:=True map:=my_map.yaml Replace my_map.yaml with the name of your map. If you’re in Gazebo at the same time,… Read mo…Read more

tanya posted a new topic "Navigation and Localization in RViz + Gazebo (with premade map from SLAM)" -

Thu, 22 Jan 2026 03:37:37 +0000

Map Creation Launch Gazebo (terminal 1): ros2 launch big_robot_gazebo launch_sim.launch.xml Run SLAM Toolbox (terminal 2): ros2 launch big_robot_navigation map_building.launch.xml use_sim_time:=true Run RViz (terminal 3): ros2 launch big_robot_navigation map_view.launch.xml Activate keyboard to move around map (terminal 4): ros2 run…Read more

CES8600 replied to the topic "Wiring RoboClaw + Encoder motor" -

Wed, 21 Jan 2026 18:52:13 +0000

RPI 5 -> MOTOR DRIVER
14 GPIO ( TX ) -> S1
15 GPIO ( RX ) -> S2
GROUND -> GROUND

CES8600 replied to the topic "Get ROS2 Jazzy" -

Fri, 16 Jan 2026 22:53:27 +0000

Currently, we are using the “robot_10_jazzy” container. We need to rename it to a more appropriate container name.

CES8600 liked forum post "Test motor run with roboclaw on RPI" -

Fri, 16 Jan 2026 22:43:57 +0000

qiancai replied to the topic "Test motor run with roboclaw on RPI" -

Fri, 16 Jan 2026 22:09:58 +0000

pip install does not work in docker image. Therefore I was not able to run “pip install pyserial”. Therefore, I had to go to pyserial official website and download the files (https://pypi.org/project/pyserial/#files). Once I did that, I went in the… Read more»

tanya's profile was updated

Fri, 16 Jan 2026 21:58:17 +0000

CES8600 replied to the topic "Test motor run with roboclaw on RPI" -

Fri, 16 Jan 2026 20:46:24 +0000

The “roboclaw.py” was outdated file. In the library, you can find “roboclaw_3.py” which is working and updated version.

CES8600 posted a new topic "Set up Jetson Orin Nano ( FireFox issue )" -

Fri, 16 Jan 2026 07:46:44 +0000

For running ROS 2, it is recommended to use an external drive (SSD). We purchased the INLAND NVMe:https://a.co/d/hA4pUlw ***IMPORTANT** I installed JetPack 6.1 and 6.2, but neither worked. Both resulted in a black screen or booted into the shell. Because… Read more»

CES8600 replied to the topic "Test motor run with roboclaw on RPI" -

Fri, 16 Jan 2026 07:24:31 +0000

Video shows the motor running

eunsun posted a new topic "Test motor run with roboclaw on RPI" -

Fri, 16 Jan 2026 07:20:00 +0000

If you go to the RoboClaw downloads page, you’ll see that it recommends using a virtual environment. 1. I set up a virtual environment and installed the basicmicro library and roboclaw-python, but the example code does not work. Because of… Read more»

eunsun posted a new topic "Checking port, baud, address for roboclaw" -

Fri, 16 Jan 2026 07:10:46 +0000

eunsun posted a new topic "Wiring RoboClaw + Encoder motor" -

Fri, 16 Jan 2026 00:07:22 +0000

eunsun posted a new topic "Wiring RoboClaw + Encoder motor" -

Thu, 15 Jan 2026 23:52:03 +0000

eunsun posted a new topic "Wiring RoboClaw + Encoder motor" -

Thu, 15 Jan 2026 23:49:19 +0000

Motor wire Function RoboClaw board BLACK Motor Power – M1B / M2B terminal RED Motor Power + M1A / M2A terminal green Encoder Ground (-) pin on encoder power header brown Channel B ENC1/ENC2 header outside pin yellow Channel A… Read more»

CES8600 posted a new topic "Get ROS2 Jazzy" -

Wed, 14 Jan 2026 21:15:44 +0000

Get ROS 2 Jazzy (24.04) 1) Pull sudo docker pull dustynv/ros:jazzy-desktop-r36.4.0-cu128-24.04 2) Allow X access if you use GUI tools This command should run on the local terminal xhost +local:root 3) Create Docker Container sudo docker run -it \ –name… Read more»

CES8600 posted a new topic "Install ROS2 Jazzy Docker Image on Jetson Orin Nano" -

Wed, 14 Jan 2026 21:01:16 +0000

Install ROS2 Jazzy Docker Image on Jetson Orin Nano https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/latest/install-guide.html These instructions should work for any Debian-derived distribution. 1. Install the prerequisites for the instructions below: sudo apt-get update && sudo apt-get install -y –no-install-recommends curl …Read more

eunsun joined the group Nature Mobility Robot

Wed, 14 Jan 2026 18:35:04 +0000

CES8600 posted a new topic "Docker image ( ROS2 Jazzy )" -

Wed, 14 Jan 2026 18:18:04 +0000

How to use Docker Image on Jetson Orin Nano