Merge pull request #6 from westonrobot/devel

Devel

Author: hanskw-weston

README.md

@@ -37,6 +37,7 @@ The onboard computer with the devkit should have been configured with the follow
     $ sudo apt-get install wrp-sdk
 
     # Install drivers for peripherals
+    $ sudo apt-get install -y software-properties-common 
     $ sudo add-apt-repository ppa:lely/ppa
     $ sudo apt-get update
 
@@ -45,6 +46,11 @@ The onboard computer with the devkit should have been configured with the follow
 
     Please refer to [this page](https://docs.westonrobot.net/software/installation_guide.html) for more details of the installation steps.
 
+* Install ros-dev-tools **(Make sure you have ros2 installed first)**
+    ```bash
+    $ sudo apt install ros-dev-tools
+    ```
+
 * Install ugv_sdk dependencies
     ```bash
     sudo apt-get install build-essential git cmake libasio-dev
@@ -117,3 +123,8 @@ Remember to source the ROS Workspace first and optionally set ROS_DOMAIN_ID
     ```bash
     $ ros2 launch wr_devkit_robot_bringup wr_devkit_ultrasonic_bringup.launch.py
     ```
+
+* Depending on the specific hardware configurations, you may need to modify the sample launch files and configuration files to adapt to your setup.  
+   Take note of the below in particluar:
+   1. IP addresses of the lidar and the data ports it uses. ([config file](./src/wr_devkit_robot_bringup/config/MID360_config.json))
+   2. Device path of the IMU in the [launch file](./src/wr_devkit_robot_bringup/launch/wr_devkit_sensor_bringup.launch.py).

navigation.repos

@@ -2,20 +2,20 @@ repositories:
   drivers/livox_ros_driver2:
     type: git
     url: https://github.com/westonrobot/livox_ros_driver2
-    version: devel
-  drivers/ugv_sdk:
-    type: git
-    url: https://github.com/westonrobot/ugv_sdk.git
-    version: main
+    version: 16a3738ad477a1eb1766c55f09d7415c8236516f
   drivers/ranger_ros2:
     type: git
     url: https://github.com/westonrobot/ranger_ros2.git
-    version: devel
+    version: 12e4c9f79d555ed2241f7c355a758a779393651a
   drivers/scout_ros2:
     type: git
     url: https://github.com/westonrobot/scout_ros2.git
-    version: humble
+    version: 34bf5dfaf8b1c8f2dd08d19790d0eead16bfb791
+  drivers/ugv_sdk:
+    type: git
+    url: https://github.com/westonrobot/ugv_sdk.git
+    version: 012a9aa02436ffe2ef66f211dd193be7b69902ba
   drivers/wrp_ros2:
     type: git
     url: https://github.com/westonrobot/wrp_ros2.git
-    version: main
+    version: 30431fd002b7e0a67c295bbf87ab1dc9d5cbb7ee