Simulation software for the turtleobot3 https://emanual.robotis.com/docs/en/platform/turtlebot3/overview/ (BURGER)
The script requires the bringup script to be executed
ros2 launch turtlebot3_bringup robot.launch.py
ros2 topic list
Make sure you see the /cmd_vel and /scan topic
If your turtlebot system has cargo and rust installed then
git clone https://github.com/Daksh14/turtlebot3-rust.git
cd turtlebot3-rust
cargo b --release && ./target/release/ros2_cmd_vel_publisher
If your turtlebot doesnt have rust installed you will have to cross compile the binary
Install rust https://www.rust-lang.org/tools/install
curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh
To setup on your system, please follow the contents of Dockerfile.system
The Dockerfile.system has steps to setup the system which can compile this rust project, please follow the commands in the dockerfile to achieve the configuration, you can also use the docker file and not install anything on your host system
build-project.shSource ros jazzy, static library and cross compile build.copy-result.shCopy binary file from docker container to your host system to push to github or use in turtlebot. Requires./build-image.shto be run before (with docker desktop https://www.docker.com/products/docker-desktop/)docker-compile.shUpdate the codebase from the Host to the docker container so the docker container can compile the latest code (This allows editing on your host machine and copying your host machine project into the docker container project which can compile the binary)build-image.shBuild the docker system image required for compilng the project binar and run the docker container
-The resultin binary is around 1.5 megabytes and multithreaded, we can further try to reduce size by enabling fat LTO and by asking LLVM to prioritise small binary size over optimizations
+the new binary is around 25.0 megabytes possiblity because of statically linking the onnx runtime.