Instructions to Run

1. Insert this file into the Home portion of the file manager
   

2. Navigate into the ros2_ws using
   cd ros2_ws

3. Run colcon build
   colcon build

4. Source the setup
   source install/setup.bash

5. Build the package
   colcon build --packages-select vector

6. Give the USB connection permissions using
   sudo chmod 666 /dev/ttyUSB0

7. Now we run it with
   ros2 run vector vector /dev/ttyUSB0

8. To check that your ypr is being published, you can run ros2 topic echo /vector_ypr.

Important

This is for Ubuntu Jammy Jellyfish, and you need to already have ros2 installed on your machine

We are using ROS Humble

Foxglove Instructions

1. Install Foxglove by following instructions on this website: https://foxglove.dev/download

2. Click "Open connection", and then ensure "Rosbridge" is selected. Click open.

3. Assuming you've completed the above "Instructions to Run", in one terminal run ros2 run rosapi rosapi_node.

4. In another, ensure you are in the ros2_ws/ros2_ws folder, and run ros2 run rosbridge_server rosbridge_websocket.

5. In Foxglove, find your Panel window. Make sure your Plot window is open. Under the Series tab, clear "Message path" on "Pitch", "Roll", & "Yaw", and enter /vector_ypr.#, replacing # with x, y, and z appropriately. Your data should begin to plot!