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ROS2 AI Rover Personal Project

3D Design Files: OnShape Link

Submodules:

Installed Binary Packages:

  • ROS2 Foxy joy
  • ROS2 Foxy depthai_ros
  • ROS2 Foxy teleop_twist_joy (This does not work!)
    • Create issue
    • Only publishes the first /cmd_vel message, then never publishes again

Notes:

  • After building a new package:
source ~/ros2_rover/install/setup.bash

Note: need to login with screen on rover to enable joystick to be detected

  • TODO: try and fix this

How to run:

ros2 run pca9685_ros2 pca9685_node
(new terminal)
ros2 run joy joy_node

TODOs:

[rviz2-4] libGL error: No matching fbConfigs or visuals found
[rviz2-4] libGL error: failed to load driver: swrast
[rviz2-4] libGL error: No matching fbConfigs or visuals found
[rviz2-4] libGL error: failed to load driver: swrast
[rviz2-4] libGL error: No matching fbConfigs or visuals found
[rviz2-4] libGL error: failed to load driver: swrast
[rviz2-4] [ERROR] [1701502432.347972099] [rviz2]: Failed to create an OpenGL context. BadValue (integer parameter out of range for operation)
[rviz2-4] [ERROR] [1701502432.348261964] [rviz2]: RenderingAPIException: Unable to create a suitable GLXContext in GLXContext::GLXContext at /tmp/binarydeb/ros-foxy-rviz-ogre-vendor-8.2.8/.obj-aarch64-linux-gnu/ogre-v1.12.1-prefix/src/ogre-v1.12.1/RenderSystems/GLSupport/src/GLX/OgreGLXContext.cpp (line 60)
[rviz2-4] [ERROR] [1701502432.348650199] [rviz2]: rviz::RenderSystem: error creating render window: RenderingAPIException: Unable to create a suitable GLXContext in GLXContext::GLXContext at /tmp/binarydeb/ros-foxy-rviz-ogre-vendor-8.2.8/.obj-aarch64-linux-gnu/ogre-v1.12.1-prefix/src/ogre-v1.12.1/RenderSystems/GLSupport/src/GLX/OgreGLXContext.cpp (line 60)

Future Plans:

Build photo as of 12-20-23: Rover