Rover Software User Guide #

This guide explains how to install, configure, launch, and operate the MR2 rover software, both on hardware and in simulation. Sections include prerequisites, building the workspace, one‑time system configuration, running on the real rover, running in Gazebo, teleoperation controls, and troubleshooting.

1. Installation & Setup #

Prerequisites: Ubuntu 22.04 LTS + ROS 2 Humble.
Clone workspace: git clone https://github.com/URC-kaist/ros2_ws ~/ros2_ws

Install dependencies:

cd ~/ros2_ws
rosdep install --from-paths src --ignore-src -r -y

Build: colcon build --symlink-install → then source install/local_setup.bash
Serial permissions: sudo usermod -a -G dialout $USER (re‑login).
(Optional) Enable hotspot, startup service, Wake‑on‑LAN, or RT kernel as needed.

2. Launching #

2.1 Real Rover #

source /opt/ros/humble/setup.bash
source ~/ros2_ws/install/local_setup.bash
ros2 run joy joy_node          # joystick driver
ros2 launch mr2_launch real_launch.py

The launch file starts drive, motor, servo, camera, BMS, rosbridge, and video nodes.

2.2 Simulation (Gazebo) #

ros2 launch mr2_launch mr2_launch.py   # starts Gazebo + bridge
ros2 launch mr2_launch real_launch.py  # (in new terminal) start high‑level nodes

Teleoperate with the same joystick or keyboard teleop.

3. Teleoperation #

Default mappings (Xbox‑style):

Control	Axis/Button	Function
RT	axis 5	Throttle(+vx)
LT	axis 4	Brake / reverse
Left‑stick H	axis 0	Steering (ω)
Modeswitch	service `/driving_node/switch_mode`	Manual ↔ Autonomous

4Troubleshooting #

No joystick: ensure joy_node topic /gamepad publishes.
No movement: check MotorInterface logs, serial port name, wheel JointState.
No video: verify usb_cam topic and browse http://<ip>:8080/stream?topic=/image_raw.
Battery data empty: confirm BMS serial port (/dev/ttyUSB1) and CRC logs.

See the Developer Docs for deeper diagnostics.