Fejemis ROS2 Software - Revision history

S253809: /* Convenience commands */

2026-05-28T09:07:45Z

Convenience commands

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	* ''fejemis launch_aux'' — start a launch file on an auxiliary Pi from the primary Pi. This is commonly used to start camera or sensor nodes remotely. Example:		* ''fejemis launch_aux'' — start a launch file on an auxiliary Pi from the primary Pi. This is commonly used to start camera or sensor nodes remotely. Example:

	~~```bash~~		fejemis launch_aux fejemis robot.launch.py
	fejemis launch_aux fejemis robot.launch.py
	~~```~~

	* ''fejemis sync_clocks'' — synchronise system clocks across Pis (uses SSH and sudo on targets). Run this before recording or starting perception stacks so timestamps align. Example:		* ''fejemis sync_clocks'' — synchronise system clocks across Pis (uses SSH and sudo on targets). Run this before recording or starting perception stacks so timestamps align. Example:

	~~```bash~~		fejemis sync_clocks
	fejemis sync_clocks
	~~```~~

	== Network Configuration ==		== Network Configuration ==

2026-05-28T09:07:24Z

Multi pi setup

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	On each Pi that needs software from the repository, clone the workspace and run the provided install scripts:		On each Pi that needs software from the repository, clone the workspace and run the provided install scripts:

	~~```bash~~		git clone https://github.com/Melvin-Angel/Fejemis_Workspace_2026.git
	git clone https://github.com/Melvin-Angel/Fejemis_Workspace_2026.git		cd Fejemis_Workspace_2026
	cd Fejemis_Workspace_2026		./install.sh
	./install.sh		source ./activate.sh
	source ./activate.sh
	~~```~~

	4. Camera / sensor hosts		4. Camera / sensor hosts

2026-05-28T08:38:13Z

← Older revision		Revision as of 10:38, 28 May 2026
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	* ''test_static_tf'' - adds a temporary static transform for camera frame testing.		* ''test_static_tf'' - adds a temporary static transform for camera frame testing.
	* The main vision node also loads ''config/main.yaml'' and uses ''use_sim_time=False'' in this launch file.		* The main vision node also loads ''config/main.yaml'' and uses ''use_sim_time=False'' in this launch file.

			== Dependencies (src/deps) ==

			The repository vendors a set of third-party and support packages under ``src/deps``. These are kept in-tree to ensure reproducible builds and known-good versions for Fejemis.

			For a short index and per-package summaries see [[Dependencies Index]].

	== Multi pi setup ==		== Multi pi setup ==

2026-05-28T08:33:15Z

Introduction

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	* Hardware bridge and low-level microcontroller integration (the Fejemis bridge).		* Hardware bridge and low-level microcontroller integration (the Fejemis bridge).
	* The ROS 2 software stack for mapping, perception, and high-level behaviours (the Fejemis ROS2 workspace).		* The ROS 2 software stack for mapping, perception, and high-level behaviours (the Fejemis ROS2 workspace).

			In this page we focus on the ROS 2 software stack to learn more about the low-level microcontroller integration see [[Fejemis bridge]] and [[Fejemis repository]]

	== Fejemis ==		== Fejemis ==

2026-05-28T08:06:49Z

Fejemis Sim

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	== Fejemis Sim ==		== Fejemis Sim ==
	The ''fejemis_sim'' package contains the Gazebo simulation resources and the simulation bringup. It combines the robot description with the simulation world and connects ROS topics to Gazebo.		The ''fejemis_sim'' package contains the Gazebo simulation resources and the simulation bringup. It combines the robot description with the simulation world and connects ROS topics to Gazebo. For more detailed information see [[Fejemis Sim ROS2]]

	Launch files:		Launch files:

2026-05-28T08:06:23Z

Fejemis Description

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	== Fejemis Description ==		== Fejemis Description ==
	The ''fejemis_description'' package provides the robot model and URDF/Xacro setup. It is responsible for publishing the robot description and state so the rest of the stack can use the same model. Fore more detailed information see [[~~ROS2~~ Fejemis Description]]		The ''fejemis_description'' package provides the robot model and URDF/Xacro setup. It is responsible for publishing the robot description and state so the rest of the stack can use the same model. Fore more detailed information see [[Fejemis Description ROS2]]

	Launch files:		Launch files:

2026-05-28T08:06:07Z

Fejemis Description

← Older revision		Revision as of 10:06, 28 May 2026
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	== Fejemis Description ==		== Fejemis Description ==
	The ''fejemis_description'' package provides the robot model and URDF/Xacro setup. It is responsible for publishing the robot description and state so the rest of the stack can use the same model.		The ''fejemis_description'' package provides the robot model and URDF/Xacro setup. It is responsible for publishing the robot description and state so the rest of the stack can use the same model. Fore more detailed information see [[ROS2 Fejemis Description]]

	Launch files:		Launch files:

2026-05-27T14:22:09Z

ROS Network files

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	The scripts are automatically sourced during system startup, ensuring that the ROS 2 network is configured correctly whenever the Raspberry Pi units boot.		The scripts are automatically sourced during system startup, ensuring that the ROS 2 network is configured correctly whenever the Raspberry Pi units boot.

	~~To find out how to setup~~ the ~~ethernet and nesaccary script for~~ ROS ~~Network you~~ can ~~find it~~ in [[Electronics]] section.		Additional information about Ethernet configuration and the required ROS 2 network setup on external computers can be found in the [[Electronics]] section.

2026-05-27T14:21:28Z

ROS Network files

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	The scripts are automatically sourced during system startup, ensuring that the ROS 2 network is configured correctly whenever the Raspberry Pi units boot.		The scripts are automatically sourced during system startup, ensuring that the ROS 2 network is configured correctly whenever the Raspberry Pi units boot.

			To find out how to setup the ethernet and nesaccary script for ROS Network you can find it in [[Electronics]] section.

2026-05-27T14:10:15Z

ROS Network files

← Older revision		Revision as of 16:10, 27 May 2026
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	The bash scripts used for configuring the ROS 2 network are located in the bin/ directory:		The bash scripts used for configuring the ROS 2 network are located in the bin/ directory:
	* bash_setup.sh		* ''bash_setup.sh'' - Configures the ROS 2 network settings for the Main Raspberry Pi
	Configures the ROS 2 network settings for the Main Raspberry Pi		* ''bash_setup_aux.sh'' - Configures the ROS 2 network settings for the Aux Raspberry Pi
	* bash_setup_aux.sh
	Configures the ROS 2 network settings for the Aux Raspberry Pi

	These scripts set up:		These scripts set up: