The dashgo_d1 package for Ubuntu 20.04 and ROS noetic

README.md

@@ -1,5 +1,60 @@
-Dashgo D1 14.04
+# The dashgo_d1 package for Ubuntu 20.04 and ROS noetic
 
-Version:v2.0
+## Description
+Dashgo D1 
 
-Date:2017-11-23
+Ubuntu 20.04 ROS noetic
+
+Version:v3.0
+
+Date:2023-8-28
+
+### Installation
+```
+$ mkdir ~/dasgho_ws/src -p
+$ cd ~/dashgo_ws/src
+$ git clone https://github.com/m11112089/dashgo_d1.git
+$ cd ~/dashgo_ws
+$ catkin_make
+$ source devel/setup.bash
+```
+### Dependency
+```
+$ pip install pyserial
+```
+### Run dashgo driver
+
+First make the node executable:
+```
+$ sudo chmod 777 ~/dashgo_ws/src/dashgo_d1/dashgo_driver/nodes/dashgo_driver.py
+```
+
+And run the demo
+```
+$ roslaunch dashgo_driver demo.launch
+```
+
+In order to control the platform with keyboard teleop, install it with
+```
+$ sudo apt install ros-noetic-teleop-twist-keyboard
+```
+and run
+```
+$ rosrun teleop_twist_keyboard teleop_twist_keyboard.py
+```
+
+
+## Changes list
+1. In python3, the return value of map() is no longer list, but iterators, you have to convert iterators to list.
+
+2. Python3's string is Unicode, python2.7 is ascii, so we need to encode the string sent to Arduino into ascii, and decode the string received from Arduino into Unicode.
+
+3. thread should be changed to _thread (Low-level threading API).
+
+4. Python 3 disallows mixing the use of tabs and spaces for indentation.
+
+5. Delete yocs_velocity_smoother and change from smoother_cmd_vel to cmd_vel.
+
+6. Python3 print need to add parentheses.
+___
+Please note that this fork is not officially endorsed by [EAIBOT/dashgo_d1]. While we strive to provide a robust solution for Ubuntu 20.04, we recommend users consult the official documentation and support channels for the most up-to-date information.

dashgo_driver/launch/demo.launch

@@ -16,15 +16,15 @@
   <node pkg="nodelet" type="nodelet" name="$(arg nodelet_manager_name)" args="manager"/>
 
   <!-- velocity smoother -->
-  <include file="$(find yocs_velocity_smoother)/launch/velocity_smoother.launch">
+  <!-- <include file="$(find yocs_velocity_smoother)/launch/velocity_smoother.launch">
     <arg name="node_name"             value="$(arg node_name)"/>
     <arg name="nodelet_manager_name"  value="$(arg nodelet_manager_name)"/>
     <arg name="config_file"           value="$(arg config_file)"/>
     <arg name="raw_cmd_vel_topic"     value="$(arg raw_cmd_vel_topic)"/>
     <arg name="smooth_cmd_vel_topic"  value="$(arg smooth_cmd_vel_topic)"/>
     <arg name="robot_cmd_vel_topic"   value="$(arg robot_cmd_vel_topic)"/>
     <arg name="odom_topic"            value="$(arg odom_topic)"/>
-  </include>
+  </include> -->
 
   <node pkg="tf" type="static_transform_publisher" name="base_link_to_sonar0"
    args="0.18 0.10 0.115 0.524 0.0  0.0 /base_footprint /sonar0 40" />