Steam Deck Rover - ROS2 & PX4 - ARK Jetson PAB Carrier and ARK V6X

Overview

A work in progress using a Steam Deck to controll a rover with ROS2. More details to come.

Contact braden@arkelectron.com for questions

Steam Deck Prerequisites

Distrobox Ubuntu 20.04 container with ROS2 Galactic Distrobox Ubuntu 22.04 container with ROS2 Humble

On our steam deck we’ve installed distrobox and set up two different containers. More info on how to do that here

To enter distrobox run

distrobox-enter ubuntu-20.04

On the steam deck clone the package into your ROS2 workspace. You also need the px4_msgs package.

colcon build
source install/setup.bash

Now run the one launch file

ros2 launch ark_rover steam_deck.launch.py

In a new console open a new distrobox container

distrobox-enter ubuntu-22.04
source /opt/ros/humble/setup.bash

Install and run Foxglove Bridge

sudo apt install ros-humble-foxglove-bridge
ros2 launch foxglove_bridge foxglove_bridge_launch.xml

Go to this link to open Foxglove and open a Foxglove Websocket

Jetson Instructions

On the Jetson clone the package into your ROS2 workspace. You also need the px4_msgs package and the depthai-ros package. It’s very important that you are on the Galactic branch. Run

colcon build
source install/setup.bash

Now run the one launch file

ros2 launch ark_rover jetson.launch.py

Control Instructions

• Arm/Disarm - A
• Throttle - Left Stick Y
• Steering - Right Stick X
• Low Gear - D-Pad Down (Default)
• High Gear - D-Pad Up
• Unlocked Differential - D-Pad Left (Default)
• Locked Differential - D-Pad Right