Developing

Where is the code

Currently, the PC has a debian installed. ROS is running inside docker images.

Using docker has obvious advantanges

Easily roll back to a known good state
Run linux on latest hardware without drive issues(Old hardware + New Linux or New hardware + Old Linux tend to always have driver issue.)
Mixing different ROS versions without any problem.

Curretly, this device has 3 docker containers on it

arm container
RGBD camera
chasis control node

The docker file and contents inside are just laying on the disk. It's up to you to decide to keep using docker or not. Just read the docker file, it is reall easy to understand what's going on. If you somehow want to install a Ubuntu 20.04 (ROS2 is impossible because the Ark5 Arm does not support ROS2 yet) and run ROS bare metal, read the following instructions.

HEXMOVE ROS Guide

Fibot's chassis type is TRIGGER-X. When you download HEXMOVE ROS SDK following the instructions on that link below, make sure you choose the TRIGGER-X SDK to download.

Please visit https://docs.hexmove.cn/books/public-hexmove-docs/chapter/ros-sdk-user-guide for instructions on how to download and use the HEXMOVE ROS SDK.

Work Gracefully with the robot

We have a small platform so you could place keyboard/laptop on it, and dev like a pro.