This node sends wheel commands to the Duckietown Duckiebot.
Documentation for the Duckietown project can be found here.
The encoder_control node in this package has been designed to work in conjunction with the db-read-encoders node, which MUST be running first. To install db-read-encoders, please run in terminal:
$ cd ~/catkin_ws/src
$ git clone https://github.com/mech-4640/db-read-encoders
To run the db-read-encoders node, please run:
$ cd ~/catkin_ws/src/db-read-encoders
$ dts devel build -f --arch arm32v7 -H islduckieXX
$ docker -H islduckieXX run -it --rm --privileged --net=host duckietown/db-read-encoders:master-arm32v7
Note: Please replace the XX in islduckieXX.local in the command above with your Duckiebot number, or you may substitute this with the your Duckiebot's hostname. If you are working outside of a virtual machine, please change instances of islduckieXX to islduckieXX.local.
Use the fork button in the top-right corner of the github page to fork this template repository.
Create a new repository on github.com while specifying the newly forked template repository as a template for your new repository.
List the dependencies in the files dependencies-apt.txt and
dependencies-py.txt (apt packages and pip packages respectively).
Place your ROS packages in the directory /packages of
your new repository.
NOTE: Do not use absolute paths in your code,
the code you place under /packages will be copied to
a different location later.
For this part, the package /packages/my_package has already been created to house your code. For courses at Dalhousie using this repository, you may need to modify the launch.sh, /packages/my_package/src/encoder_control.py or the encoder_control.launch.
Change the file launch.sh in your repository to
launch your code.
See the template