haruna

Prerequirements

• Raspberry Pi 4 Model B
• Ubuntu 20.04
• ROS Noetic

CAN Interface

Prepare either of the following

• USB2CAN-Cable
• USB-to-CAN V2 (Ixxat)
• 2-CH CAN HAT (Waveshare)
• etc

Joy Controller

DualSense or something

Build

~$ 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.bash

Run

Run on a real robot

roslaunch haruna main.launch

If 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

Run on simulators

Gazebo

roslaunch haruna_simulations gazebo.launch

Create a map

Please set ROS_MASTER_URI and ROS_IP.

On robot client (Raspberry Pi)

roslaunch haruna_navigation mapping_auto.launch

On robot master (Laptop or Desktop or else)

roslaunch haruna_navigation mapping_auto_rviz.launch

Launch files

For more descriptions of the launch file, please check here