43 lines
1.1 KiB
Markdown
43 lines
1.1 KiB
Markdown
# drawing-robot-ros2
|
|
|
|
|
|
``` sh
|
|
source install/local_setup.bash
|
|
cd src/ign_moveit2_examples/src/draw_svg/
|
|
rosdep install --from-paths . --ignore-src -r -y
|
|
colcon build
|
|
source install/local_setup.bash
|
|
ros2 launch draw_svg draw_svg.launch.py
|
|
```
|
|
|
|
## xArm lite6
|
|
- web interface: http://192.168.1.150:18333
|
|
|
|
free drive mode: https://github.com/xArm-Developer/xarm_ros#6-mode-change
|
|
## ROS2 rpi4
|
|
https://github.com/ros-realtime/ros-realtime-rpi4-image/releases
|
|
|
|
After unpacking the tar file, flash it to sd card.
|
|
Log in with "ubuntu:ubuntu".
|
|
|
|
``` sh
|
|
sudo -i
|
|
loadkeys fi
|
|
passwd ubuntu #change from default 'ubuntu' to '1234'
|
|
apt-mark hold $(uname -r) linux-firmware u-boot-rpi u-boot-tools #prevent kernel updates
|
|
apt-mark hold libraspberrypi-bin libraspberrypi-dev libraspberrypi-doc libraspberrypi0
|
|
apt-mark hold raspberrypi-bootloader raspberrypi-kernel raspberrypi-kernel-headers
|
|
|
|
apt update && apt upgrade
|
|
|
|
|
|
apt install ros-dev-tools
|
|
```
|
|
|
|
|
|
### Access xarm webUI from different network
|
|
If connected to the pi on 192.168.22.199, one can forward the webUI to localhost:8080 with the following:
|
|
``` sh
|
|
ssh -L 8080:192.168.1.150:18333 ubuntu@192.168.22.199
|
|
```
|