- Raspberry Pi 4 Model B
- Ubuntu 20.04
- ROS Noetic
Prepare either of the following
DualSense or something
~$ mkdir -p catkin_ws/src ~$ cd catkin_ws ~/catkin_ws$ catkin init ~/catkin_ws$ cd src ~/catkin_ws/src$ git clone git@github.com:smilerobotics/haruna.git ~/catkin_ws/src$ vcs import < haruna/.rosinstall ~/catkin_ws/src$ rosdep install --from-paths . ~/catkin_ws/src$ catkin build ~/catkin_ws/src$ source ~/catkin_ws/devel/setup.bashroslaunch haruna main.launchIf your Haruna is using EPOS4 motor drivers
roslaunch haruna main.launch motor_driver:=epos4(The default value for motor_driver arg is zlac8015)
More details on other options, including LiDAR, here
roslaunch haruna_simulations gazebo.launchPlease set ROS_MASTER_URI and ROS_IP.
roslaunch haruna_navigation mapping_auto.launchroslaunch haruna_navigation mapping_auto_rviz.launchFor more descriptions of the launch file, please check here