Jose Luis Blanco-Claraco jlblancoc

Introduction

These commands are shown in the YouTube tutorial: xxx

Based on the official docs with the addition of the automatic sending of ready\r\n on boot, as required by the firmware of my boards (these ones).

Rules for all boards:

Open Module Configuration -> Set module to Generic (18). Click save.
Now, depending on the number of relays on your board, do the next 1, 2 or 4 changes:

Install ROS 1 (Noetic) on Ubuntu 22.04 (Jammy)

In general, follow these instructions: http://wiki.ros.org/noetic/Installation/Source

You will find these errors, though:

Problem 1

Problem: hddtemp is not found as a rosdep. Solution:

Install lib4adev driver library

The Microsoft Kinect for Azure (k4a) is only supported officially for Ubuntu 18.04.

Here are instructions to install its library in a more recent OS:

# Download these two .deb files: 
wget https://packages.microsoft.com/ubuntu/18.04/prod/pool/main/libk/libk4a1.4-dev/libk4a1.4-dev_1.4.1_amd64.deb
wget https://packages.microsoft.com/ubuntu/18.04/prod/pool/main/libk/libk4a1.4/libk4a1.4_1.4.1_amd64.deb

	function [] = dibuja_dep(x, Fs)
	% Dibuja la densidad espectral de potencia (dep)
	% o power spectral density (psd) de una señal "x" muestreada a una
	% frecuencia de muestreo "Fs" (Hz)
	N = length(x);
	X = fft(x);
	X = X(1:N/2+1);
	psdx = (1/(FsN)) abs(X).^2;
	psdx(2:end-1) = 2*psdx(2:end-1);
	freq = 0:Fs/length(x):Fs/2;

	from launch import LaunchDescription
	from launch.substitutions import LaunchConfiguration
	from launch_ros.actions import Node
	from launch.actions import (DeclareLaunchArgument,
	EmitEvent, LogInfo, RegisterEventHandler)
	from launch.event_handlers import OnProcessExit
	from launch.events import Shutdown
	from ament_index_python import get_package_share_directory
	import os

	services:
	mola-core:
	#restart: always
	build:
	context: ./
	dockerfile: ./docker/Dockerfile
	args:
	- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
	- CYCLONEDDS_URI=file:///root/ros2_ws/cylconedds_config.xml
	network_mode: host