Robot ROS2 package for my diy robot "R.I.T.A." (Robust Independent Task Achiever)

• Setting up the development environment (GitHub, Docker, ROS-Package)
• Simulating the robot with URDF
• Controlling the simulated robot with an XBOX Controller through docker
• Running the Robot on the Raspberry Pi
• Controling the GPIO pins on the Raspberry via ROS
• Mapping the controlls from the XBOX controller to the GPIO pins

First create an empty workspace and the file structure:

mkdir -p dev_ws/src
cd dev_ws
colcon build --symlink-install

Then change to src. Inside create the package with

ros2 pkg create --build-type ament_cmake rita-bot

or clone the repo:

git clone https://github.com/jvgruber/rita-bot.git

Build the package from the dev_ws directory

colcon build --package-select rita-bot

Alternatively you can use colcon build for building the entire workspace.

After that make sure to source install/setup.bash or source install/setup_local.bash.

see the ROS2 tutorial on https://docs.ros.org/en/foxy/Tutorials/Beginner-Client-Libraries/Writing-A-Simple-Cpp-Publisher-And-Subscriber.html

see the ROS2 tutorial on https://docs.ros.org/en/foxy/Tutorials/Intermediate/Launch/Creating-Launch-Files.html

Here is the in-depth youtube video: https://www.youtube.com/watch?v=uf4zOigzTFo&t=1s On the host machine we can check all input peripherals:

ls -l /dev/input/by-id

You can also try running jstest-gtk.

We can use devices in our docker by adding some arguments to docker run ros-iron-rita:latest:

--device=/dev/input/js0 # for the controller only (the controller needs to be connected before starting the container!)
-v /dev/input:/dev/input --device-cgroup-rule='c 13:* rmw' # for the input device group (input has id 13)
-v /dev:/dev --device-cgroup-rule='c *:* rmw' # for all device groups