Real robot

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SNOW edited this page Sep 18, 2021 · 1 revision

Real robot

These steps are for the robot on-board computer (raspberry-pi, jetson)

Clone this repository and hoverboard-driver

cd ~/catkin_ws/src
git clone https://github.com/HTB-HoverTableBot/hover-table-bot.git
git clone -b htb-devel https://github.com/HTB-HoverTableBot/hoverboard-driver.git

Be aware that we are using htb-devel branch since it includes mechanical configurations for HTB (wheel distance and diameter).

Compile packages and source the workspace

cd ~/catkin_ws
catkin build htb_description
catkin build htb_gazebo
catkin build htb_base
catkin build hoverboard_driver
source devel/setup.bash

Run the example

roslaunch htb_base htb_base.launch

Now you can start moving the robot running in a new terminal:

rosrun teleop_twist_keyboard teleop_twist_keyboard.py