Setup huksy with ROS2 Humble.md

My enviorment

ros2 Humble, ubuntu 22.04

Step by step

Clone:

mkdir -p ~/husky_ws/src
cd ~/husky_ws/src
git clone https://github.com/husky/husky.git
cd husky
git checkout humble-devel

Instal ros packages:

cd ~/husky_ws
sudo apt-get update
sudo apt-get upgrade
rosdep install --from-paths src --ignore-src --rosdistro=$ROS_DISTRO -y
colcon build

On Raspbery Pi I needed:

rm -rf ~/husky_ws/src/husky_gazebo
rm -rf ~/husky_ws/src/husky_simulator

Create an udev rules:

sudo vi /etc/udev/rules.d/90-clearpath.rules

Udev rule for the Prolific Serial-to-USB adapter shipped standard with Husky:

SUBSYSTEMS=="usb", ATTRS{manufacturer}=="Prolific*", SYMLINK+="prolific prolific_$attr{devpath}", MODE="0666"

Reload udev

sudo udevadm control --reload-rules && sudo service udev restart

Done:

source ~/husky_ws/install/setup.bash
ros2 launch husky_base base.launch.py