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This dev note summarizes how I configured a wireless relay system using the Teltonika RUT951 wireless router to support robot swarm communication via network and two types of RTK GPS correction workflows:
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On JetPack 6.2, the exFAT file system is not recognized by default. Therefore, you need to perform the following steps to enable exFAT support, ensuring that your portable SSD formatted with exFAT can be properly read and written.
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For those who is interested in using Nav2 for GPS based navigation, this is a good official tutorial. However, if you are using ROS2 Humble with Ubuntu 22.04, the GitHub repo for Humble cannot be used for the GPS Waypoint Follower Demo because the logic that the behavior tree is established in Humble is different from the later version. The maintainer of Nav2 had removed the GPS Waypoint Follower workspace in the branch of Humble in the repo, so we cannot use the script provided by the Nav2 team.
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I prioritize robotics over AI, as I find robotics more engaging. This preference leads me to install ROS/ROS2 before Anaconda whenever setting up a new Ubuntu system. For those working in both robotics and AI, it’s common to have ROS/ROS2 and Anaconda on the same device. However, this setup can lead to a tricky environment issue: ROS 2 Humble supports Python 3.10 by default, whereas Anaconda often defaults to Python 3.11. This mismatch can create compatibility problems.