See README inside drivers folder for the details of how to make work Pi camera and sensors/actuators within Docker/ Balena.

$ git checkout master (default)

The goal of this branch is to provide a roscore instance hosted in a SBC like Raspberry Pi, so that you always have ROS active in your LAN. In this way:

• You can launch any robot. and control it from your laptop without needing to worry about configuring ROS_MASTER_URI (this means that for every device, you will only need to configure ROS_MASTER_URI once, in order to point to the SBC)
• You can safely run a multirobot configuration. Every new robot you launch will join the ROS network in your LAN

Check out the branch:

$ git checkout gopigo3

Then deploy to your robot given that it's powered with BalenaOS:

$ balena push <YOUR_DEVICE_NAME>.local

https://github.com/ros-gopigo3/gopigo3-pi-code

Packages to be included in the Raspberry Pi of robot to run the examples in the book "Hands on ROS for Robotics Programming" published by Packt Pub https://www.packtpub.com/iot-hardware/hands-on-ros-for-robotics-programming

Includes drives and distance sensor (to be added line follower and IMU)

• Source: gopigo3_node
• Folder bagFiles includes recorded sessions of distance sensor and Pi camera

Sample python files to use the Pi Camera

• Source: Recipes

Manage Raspberry Pi Camera from ROS.

• Source raspicam_node

Manage EAI YDLidar X4 from ROS.

• Source ydlidar

Forked from https://github.com/balena-io-playground/ros-kinetic-example

The original repository has been updated to ROS Melodic, and it is intendedt to run under BalenaOS.

The Docker launch script is start.sh, that starts a bash terminal after all ROS configuration and catkin build has finished. This lets you the container ready so that you can play with installed ROS packages or add more at your discretion.

It's a Linux distribution for SBCs like Raspberry Pi, that has been designed to include the minimal set of required components to reliably support operation of the Docker engine in embedded scenarios. It uses the Yocto framework as a foundation, systemd as the init system.

$ git remote add balena g_bernardo_ronquillo@git.balena-cloud.com:g_bernardo_ronquillo/ros-melodic_bionic.git

$ git push balena master

$ git push balena <YOUR_DEVICE_NAME>.local

This branch adds to the Raspberry Pi the code used in the book "Hands on ROS for Robotics Programming" published by Packt Pub https://www.packtpub.com/iot-hardware/hands-on-ros-for-robotics-programming

• First checkout the branch:

$ git checkout gopigo3

To push the Docker container to the Balena device you have to specify the source branch:

$ git push balena gopigo3:master

NOTE: If you are switching the source repository for your Balena app, you have to force the push to avoid rejection:

$ git push balena gopigo3:master -f

In this case you don't need to specify any branch, just the target device from the folder of the local repository (it will take the branch you have checked out):

$ git push balena <YOUR_DEVICE_NAME>.local

• Current version does not automatically launch ROS environment, it lands off to bash for easier development. So log into the container and play with the ROS code from inside:

$ balena ssh DEVICE_NAME.local main

• From within the container launch roscore (default port 11311):

$ roscore

• Or if master is at port 80:

$ roscore -p 80

• First device:

$ ros_basics basic.launch

• Second device (you have to specify ROS_MASTER_URI to point to the first device): There is another launch publishing in the same topic counter to test ROS networking between devices running under BalenaOS:

$ roslaunch ros_basics basic_interactive.launch