ros2_workshop

This is a repository for ros2 workshop

How to use Docker

At your local terminal

sudo apt-get install git
sudo snap install docker

check whether docker work correctly

docker ps

If you could see like this, you should add user to docker group to give user permisstion

permission denied while trying to connect to the Docker daemon socket at unix:///var/run/docker.sock:

sudo chmod 777 /var/run/docker.sock
sudo groupadd docker
sudo usermod -aG docker $USER

How to start ROS2

https://github.com/hrjp/rosenv.git

How to use remote repository

If you connect local repository to remote one, execute below on your ros2 container.

cd /home/colcon_ws
touch .gitignore
vi .gitignore

on the .gitignore

build
install
log

If there are files(or folder) you want to ignore, put it on .gitignore. You should do this only once when your first time

git config --global init.defaultBranch main
git config --global user.name "user_name"
git config --global user.email "user_email"
git init
#You make sure to match "user_name","user_emal" and github account

git remote add origin "URL"
#make sure to contain your repository's URL to "URL" 
git pull origin main
#you are required your name and access tokenkey

git branch
#then you could see your branch "main"

git add .
#to commit all files, if not you can choose your own file
git status
#you could check staging area (you can check files to be commited)
git commit -m"comment"
#put description of chenge to "comment" 

git push origin main
#push to main branch if you want to change target branch, chenge it
#you are required your name and access tokenkey

How to use micro-ROS-PlatformIo

In your ROS2 container

sudo apt update && sudo apt upgrade
sudo apt install python3-venv

https://github.com/micro-ROS/micro_ros_platformio.git

How to use Ultralytics-ros

Check whether connect USBcamera correctly at you local terminal

sudo apt update && sudo apt upgrade
sudo apt install v4l-utils
v4l2-ctl --list-devices

If you want to use original inference model, add your model to ROS container. note: before build, you could not find this directory

/home/colcon_ws/install/ultralytics-ros/share/ultralytics-ros/models/