Crack-Filling-Robot-ROS

Work In Progress

Introduction

I run the latest Ubuntu Noble 24.04 on my PC. For the computer on the robot you can either use a Raspberry Pi (RPi) or Jetson NANO

If youre using a RPi you can directly intall Ubuntu 24.4 live server on it using the RPi Imager and install the latest ROS2 Jazzy distro. Which will match your PC.

If you're using a Jetson NANO, setting up the environment is a bit more complicated. The current highest version of Ubuntu supported is Ubuntu Focal 20.04. You can follow the below steps to setup up your system.

Setup Software

Settin up your PC

To intall humble ROS2 distro, you can use Docker. To install docker please follow the this link.

You can install ros2 by running the below commmand in your terminal

$ bash pc_create_ros_docker.bash

Ths script maps the $PWD to /home/ros/ inside the container. So the you can make the ROS2 workspace persisant and accessed outside the container.

To connect and shell into the container

$ bash connect_ros_docker.bash

Settin up your Jetson NANO

Upgade Jetson NANO to Ubuntu 20.04

• Method 1: Flash Image
  Flash the provided Ubuntu 20.04 OS image Follow Link

• Mothod 2: Manual Upgrade
  Upgrade it manually by yourself, follow this link. Follow Link

Install ROS2

• Method 1: Docker
  You can install ros2 by running the below commmand in your terminal

  $ bash nanocreate_ros_docker.bash

  Ths script maps the $PWD to /home/ros/ inside the container. So the you can make the ROS2 workspace persisant and accessed outside the container.
  

  To connect and shell into the container

  $ bash connect_ros_docker.bash

• Method 2: Source Build
  Ubuntu 20.04 is a Tier 3 OS for ROS2 humble We need to install ROS2 humble on Jetson NANO by building from the source. Follow Link

Other Configs:

• Overclocking Jetson Nano CPU to 2 GHz and GPU to 1 GHz
• Automatic Fan Control
• Other Useful Scripts