michalpelka/Setup huksy with ROS2 Humble.md

## Setup huksy with ROS2 Humble.md

      
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              Setup huksy with ROS2 Humble.md
            
          
    My enviorment

ros2 Humble, ubuntu 22.04
Step by step

Clone:
mkdir -p ~/husky_ws/src
cd ~/husky_ws/src
git clone https://github.com/husky/husky.git
cd husky
git checkout humble-devel

Instal ros packages:
cd ~/husky_ws
sudo apt-get update
sudo apt-get upgrade
rosdep install --from-paths src --ignore-src --rosdistro=$ROS_DISTRO -y
colcon build

On Raspbery Pi I needed:
rm -rf ~/husky_ws/src/husky_gazebo
rm -rf ~/husky_ws/src/husky_simulator

Create an udev rules:
sudo vi /etc/udev/rules.d/90-clearpath.rules

Udev rule for the Prolific Serial-to-USB adapter shipped standard with Husky:
SUBSYSTEMS=="usb", ATTRS{manufacturer}=="Prolific*", SYMLINK+="prolific prolific_$attr{devpath}", MODE="0666"

Reload udev
sudo udevadm control --reload-rules && sudo service udev restart

Done:
source ~/husky_ws/install/setup.bash
ros2 launch husky_base base.launch.py