# radar
Bus 001 Device 006: ID 10c4:ea70 Cygnal Integrated Products, Inc. CP210x UART Bridge
# lidar
Bus 001 Device 007: ID 10c4:ea60 Cygnal Integrated Products, Inc. CP210x UART Bridge / myAVR mySmartUSB light


# go1 launch
ros2 launch unitree_legged_real eloquent_high_level.launch.py
ros2 run joy joy_node

sudo chmod 666 /dev/ttyUSB0
sudo chmod 666 /dev/ttyUSB1
export ROS_DOMAIN_ID=0

ros2 launch ti_mmwave_ros2_pkg eloquent_composition.launch.py
# 통합됨
ros2 launch ti_mmwave_ros2_examples pointcloud_to_laserscan.launch.py
ros2 launch ti_mmwave_ros2_examples lidar_nav.launch.py

docker exec -it ros2_humble_arm64v8 bash
ros2 launch ti_mmwave_ros2_examples bringup_launch.py open_rviz:=false
ros2 launch ti_mmwave_ros2_examples bringup_launch.py

# nav2 test 
ros2 run tf2_ros static_transform_publisher 1 0 0 0.5 0 0 odom base_footprint
ros2 run tf2_ros static_transform_publisher 0 0 0 0 0 0 base_footprint base_link

odom => base_footprint => base_link 연결 필요
amcl이 map => odom 연결, 하지만 이거 하려면 scan topic 필요

ros2 launch ti_mmwave_ros2_examples bringup_launch.py

ros2 launch ti_mmwave_ros2_examples localization_launch.py

https://user-images.githubusercontent.com/12381733/205233048-23a71f52-2d87-46c0-bb2a-7dfdcabbaad3.png

# radar
ros2 launch unitree_legged_real eloquent_high_level.launch.py
ros2 launch ti_mmwave_ros2_examples pointcloud_to_laserscan.launch.py

# lidar
sudo chmod 777 /dev/
ros2 launch unitree_legged_real eloquent_high_level.launch.py
ros2 launch ti_mmwave_ros2_examples lidar_nav.launch.py


ros2 run tf2_ros static_transform_publisher 0 0 0 0 0 0 base_link test
ros2 run tf2_ros static_transform_publisher 0 0 0 0 0 0 base_footprint base_link
ros2 run tf2_ros static_transform_publisher 0 0 0 0 0 0 odom base_footprint
ros2 run ti_mmwave_ros2_examples dummy_pointcloud_publisher

# 통합
ros2 launch ti_mmwave_ros2_examples fake_nav_launch.py 
ros2 launch ti_mmwave_ros2_examples bringup_launch.py open_rviz:=false

=> subscriber가 있어야만 publish를 한다.

ros2 run pointcloud_to_laserscan pointcloud_to_laserscan_node --ros-args -r cloud_in:=fuck scan:=ssss


pointcloud_to_laserscan_node 왜안될까?
=> header.stamp는 없어도 된다.
=> but, PointCloud2 단에서 fraimID는 target_frame과 맞아야 한다.

stamp 없는 문제
=> pointcloud_to_laserscan_node단의 now를 박아넣도록 하였다.

ROS2와 ROS1 header양식이 다르다.
http://docs.ros.org/en/melodic/api/std_msgs/html/msg/Header.html
https://docs.ros2.org/latest/api/std_msgs/msg/Header.html

---

이런식으로 composition + node 생성이 가능하군
https://github.com/ros-perception/pointcloud_to_laserscan/blob/eloquent-devel/CMakeLists.txt