dora-rs
Does dora-kit-car require hardware compatibility processing
I've been following dora-rs for over two years, and this year I can finally dedicate myself full-time to developing smart cars. Many thanks to the author; this framework is excellent! I've successfully run many demos, but I'm a bit lost when trying to run the dora-kit-car project. I don't know how to get it going. I've already bought two small cars, both based on ROS2, and I'd like to use dora-rs to drive them. I hope someone can help me, as I'm not very familiar with the hardware side of things.
Here are my questions:
Can dora-kit-car directly control hardware? I've looked at the code, and it seems it can operate via a serial port protocol, but I don't know what to input for SERIAL_PORT.
If direct hardware support isn't universal, are there specific hardware options I can purchase that are directly compatible? This would make development much easier, allowing me to focus on business logic rather than figuring out how to send car control commands from dora-rs to ROS2. dora-rs should ideally offer better performance, and an intermediary solution seems like just a temporary workaround.
Ah yeah indeed sorry. It's an ongoing WIP hardware project to be able to drive a car through serial port. @LeonRust
So, in the past I have ros2 bridge to communicate with cars and that should still be possible. If possible it would be great if we could just use serial port or maybe do something on the CAN BUS.
Can you share the model of the car your using?
One of the finished cars I purchased is the MicroROS-Pi5 from Yahboom, which is an educational car made by a Chinese company using Ros2 https://www.yahboom.com/study/MicroROS-Pi5
dora-kit-car is a node developed for the proprietary dora-kit chassis car. If you need to control your own car, you may need to modify the serial port data transmission function.
This is the warehouse for this special car. https://github.com/DoraCN/mick_robot_chassis
One of the finished cars I purchased is the MicroROS-Pi5 from Yahboom, which is an educational car made by a Chinese company using Ros2我购买的一辆成品车是 Yahboom 的 MicroROS-Pi5，这是一款由中国公司使用 Ros2 制造的教育车 https://www.yahboom.com/study/MicroROS-Pi5
Do you have any information about this car? I can try to develop the drive control node of this car.
@rustdreamer You need to develop a chassis node in the DORA environment or port the corresponding ROS2 chassis node to DORA. The approach involves reading and sending data via serial port or CAN bus, adhering to the communication protocol between the ROS2 node and the robot.
Key aspects include: 1. Receiving commands (e.g., velocity, angular velocity) from other nodes and sending them to the chassis via serial port or CAN bus. 2. Reading and parsing data from the chassis via serial port or CAN bus to obtain the robot’s state and odometry information, then publishing this data. These functions correspond to the cme_vel_callback()and topic publishing functions in ROS2.
A reference example is the chassis node of the AdoraRobot.
https://github.com/RuPingCen/Adora_Robots/blob/master/robot_driver/DORA/adora_chassis_control_dora_node/src/adora_chassis_a2pro_dora_node.cc
