Project files

Ubuntu/Linux Development Environment Issues (10 points)

Problem Description

Configure an independent robot development environment on Ubuntu 22.04, create a wheelleg user and a group with the same name, and complete the configuration using useradd, groupadd, and usermod. The user should have access to /dev/ttyUSB*, /dev/ttyACM*, /dev/video*, Linux GPIO, and can0/vcan0, and be able to run ROS 2 Humble. For a pure host-only solution, GPIO or USB-CAN access must be verified; for a joint upper-lower computer solution, USB-TTL/serial access to the lower computer must be verified; for a pure lower computer solution, explain why it does not depend on the host computer.

Deliverables

Provide setup/, scripts/, permissions/, and repeatable scripts: user/permission initialization, USB/serial port, camera (can be checked with v4l2-ctl), GPIO, CAN, and ROS 2 checks. Scripts should handle cases where devices do not exist, permissions are insufficient, and virtual CAN is used.

Scoring

Acceptance

Perform environment checks as the regular wheelleg user and display the outputs of ros2 --version, ros2 topic list, ros2 node list, ros2 run, and ros2 launch. For pure microcontroller solutions without ROS 2/host computer, up to 1/2 of the points may be awarded based on complete microcontroller control, simulation deployment, permission documentation, and logs. For host-only or combined host-microcontroller solutions, acceptance is based on the integrity of the control chain.