1 はじめに ⇩ 2 記事 ⇩ 3 DOC ⇩ 4 GitHub ⇩ 5 初期設定 ⇩ 6 基礎 ⇩ 7 応用 ⇩ 8 実用 ⇩
The Robot Operating System (ROS) is a set of software libraries and tools that help you build robot applications. From drivers to state-of-the-art algorithms, and with powerful developer tools, ROS has what you need for your next robotics project. And it's all open source. Here you will find documentation on how to install and use software from ROS 2, which is a new version of ROS that is under heavy development. If you're looking for information on ROS 1 (i.e., ROS as it has existed for several years and what you might be using right now), check the ROS website or the documentation wiki. Before you proceed here, please read the release overview to get an idea of what is (and is not) in the current ROS 2 release.
3 Doc Erle-Brain 3 ⇩ Erle-Brain 2 ⇩ PXFmini ⇩ Operating System images ⇩ Additional Devices ⇩ Discontinued ⇩
Getting StartedTable of contents: I got my Erle-Brain 3, and now what? Flashing a SD Card Under Linux: Under macOS Under Windows: (Only Modular Debian OS) Explore inside Install an autopilot software Additional Hardware Other mechanisms of connecting to your brainHardwareCommunications Power Sensing LED statusSoftwareArdupilot (APM) PX4Anti-Vibration System Projects
Intro Getting started Hardware Software Projects
Intro Getting Started Schematics Software Hardware Projects
Operating System images
Debian License Flashing OS images
Additional Devices Lidar ⇩ Optical Flow ⇩ Gimbal ⇩ Electro Permanent Magnet ⇩ 2D Laser Scanners ⇩ Depth Sensor ⇩ Charging Pad ⇩ Digital Airspeed ⇩
The PulsedLight rangefinder or Lidar is a low-cost optical distance measurement solution with a 40m range under most operating conditions, low power consumption, and small form factor. This sensor can be purchased from these distributors and then technical info can be found here. This rangefinder is only supported running APM:Copter or APM:Plane 3.3 or higher (as well as Rover 2.49 or higher).LidarConnecting Lidar to Erle-Brain 2
Use one of the I2C bus connection exposed in Erle-Brain 2 to attach the Lidar. To be sure that the device is working properly, check that Lidar's I2C address appears in the bus. In order to do so, execute:Setting parameters up in APMsudo i2cdetect -r 1You should see the address 0x62printed out:
Set the RNGFND_MAX_CM parameter to 4000 (40m). This parameter represents the maximum distance in centimeters that the LiDAR is reliable over — when ignoring “0” distance readings in the driver, a value of 4000 should work well in almost all conditions. RNGFND_MIN_CM should be set to 20cm. Below that distance you will still get readings, but they may be inaccurate (the optics can start to introduce parallax error i f the sensor picks up signal from specular reflections rather than directly from a return signal).Testing the sensor
Distances read by the sensor can be seen in the APM Planner’s Flight Data screen’s Status tab.
Electro Permanent Magnet
Erle-Brain PXF PXF 2