jhiggason / yahboomg1tank Goto Github PK

Since my camera mount is messed up I am leaning towards using a pi cam. I followed the instructions here and also installed the picamera2 python api. its a much better camera for $5-$10, it's easier to work with and frees up a usb port. A pan tilt mechanism with the existing servos could be 3d printed, what do you think? I printed a basic mount for now.

theres a broken link in your description/instructions the ros link i believe

I got the kit today, should have it assembled tomorrow. I am going to try to add mpu9250 this weekend, I bitbanged an i2c on IR avoid left/right (12/17), ordered some xh245 wires. I found a couple ros2 mpu9250 examples on GitHub and will try to get working this weekend. If the examples work then adding that instead of one the empty IR slots may make sense. If it works then a different i2c sensor could probably be added to IR seek left/right.

I'm getting a power supply so I can properly power the robot/pi 4 when working on it. I was doing it with the battery charger, it works but performance is impacted versus the battery. The battery is rated 6a max continuous power so that's what I'm ordering. The pi can get up to 3a under load and the charger is 800ma
https://www.amazon.com/gp/aw/d/B082PCR5YS/

Been to the Ros2 installation page https://docs.ros.org/en/humble/Installation/Alternatives/Ubuntu-Development-Setup.html

Getting errors I'm unablle to understand

Pi@Yahboom:~$ sudo apt update && sudo apt install -y
python3-flake8-docstrings
python3-pip
python3-pytest-cov
ros-dev-tools
Hit:1 http://ports.ubuntu.com/ubuntu-ports mantic InRelease
Hit:2 http://ports.ubuntu.com/ubuntu-ports mantic-updates InRelease
Hit:3 http://ports.ubuntu.com/ubuntu-ports mantic-security InRelease
Ign:4 http://packages.ros.org/ros/ubuntu mantic InRelease
Ign:5 http://packages.ros.org/ros2/ubuntu mantic InRelease
Err:6 http://packages.ros.org/ros/ubuntu mantic Release
404 Not Found [IP: 2605:bc80:3010::134 80]
Err:7 http://packages.ros.org/ros2/ubuntu mantic Release
404 Not Found [IP: 2605:bc80:3010::134 80]
Reading package lists... Done
E: The repository 'http://packages.ros.org/ros/ubuntu mantic Release' does not have a Release file.
N: Updating from such a repository can't be done securely, and is therefore disabled by default.
N: See apt-secure(8) manpage for repository creation and user configuration details.
E: The repository 'http://packages.ros.org/ros2/ubuntu mantic Release' does not have a Release file.
N: Updating from such a repository can't be done securely, and is therefore disabled by default.
N: See apt-secure(8) manpage for repository creation and user configuration details.

The last update I made to the ROS2 stuff was incorporating a YAML config file. The yaml file is located under params_pkg/params/robot_params.yaml and a change needs to be made to the tank control package so it works in your enviornment. This line in the tank_control_pkg/tank_control_pkg/tank_control.py file needs line 88 change to your environment : self.config = self.load_yaml_config("/home/jeffh/ros2_ws/src/params_pkg/params/robot_params.yaml")

In my case you can see my home folder is jeffh, that is probably what needs to be changed on yours as well.

Looks like the same needs to be changed for the robot_peripherals_pkg.py as well. Line 19 self.config = self.load_yaml_config("/home/jeffh/ros2_ws/src/params_pkg/params/robot_params.yaml")

Is there a way for us to use a yaml config file without having to change the code to the correct user's home folder?