The mobile chassis needs to be driven by a program to achieve the navigation of Limo. The chassis driver of Limo has the C++ version and the Python version. Both two versions can control the movement of the Limo.

3.1 C++ chassis driver

The folder where the C++ version of the driver is located is ~/limo_ros2_ws/src/limo_ros/limo_base, which can be accessed by the following command.

cd limo_ros2_ws/src/limo_ros/limo_base

The following is the file list of the limo_base package:

├── limo_base
    ├── CMakeLists.txt
    ├── include
    │   ├── limo_driver.h
    │   ├── limo_protocol.h
    │   └── serial_port.h
    ├── launch
    │   └── limo_base.launch
    ├── msg
    │   └── LimoStatus.msg
    ├── package.xml
    └── src
        ├── limo_base_node.cpp
        ├── limo_driver.cpp
        └── serial_port.cpp

There are four folders under limo_base, namely include, launch, msg, and src. The include folder stores the library files called by the driver; the launch folder stores the startup files of the driver; the msg folder stores the message files needed by the driver; the src folder stores the driver source code.

You can control the forward movement of limo with a simple command.

Note: Before running the command, please make sure that the programs in other terminals have been terminated. The termination command is: Ctrl+c.

1. Launch the chassis, open a terminal, and enter the command in the terminal:

   ros2 launch limo_bringup limo_start.launch.py
   

2. Enter the control command, open a terminal, and enter the command in the terminal:

   ros2 run teleop_twist_keyboard teleop_twist_keyboard