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sudo apt update
sudo apt install ros-galactic-rmw-fastrtps-cpp ros-galactic-rmw-fastrtps-dynamic-cpp
Starting the connection (run in both terminals)
sudo pppd call ros2
Killing the connection
sudo pkill pppd
Testing Steps:
- Send Ros2 Messages over comms
- Send Ros2 Messages from bay station computer to Jetson
- Setup publisher and subscriber for Twist messages
- Integrate sent messages with CAN
- Control motor through Xbox Remote
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