Bessica-D-ROS1

中文

Prerequisites

Check the robot wire connection:

ls /dev/ttyUSB*
# Or
ls /dev/ttyCH*

Serial Port Permission

Temporary method:

sudo chmod 666 /dev/ttyUSB*

Recommended (persistent) method:
Add your user to the dialout group and re-login:

sudo usermod -a -G dialout $USER

Then log out and log back in for the changes to take effect.

Installation

mkdir -p ~/bessia/src
cd ~/bessia/src
git clone https://github.com/Xuanya-Robotics/Bessica-D-ROS1.git .
cd ..
rosdep install --from-paths src --ignore-src -r -y
catkin_make

Usage

source ~/bessia/devel/setup.bash
roslaunch bessica_d_driver bessica_d_bringup.launch 

Demo

cd ~/bessia/src/bessica_d_moveit/scripts
python3 demo_move_test.py 

Press q to exit the program.