53 lines
2.3 KiB
Markdown
53 lines
2.3 KiB
Markdown
# Blockly ROS2 Robot Controller — Documentation
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Visual programming interface for controlling a ROS2 Jazzy Kiwi Wheel AMR.
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See [readme.md](readme.md) for project overview and status.
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---
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## Documentation Index
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| Topic | File |
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|---|---|
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| System architecture & Blockly–ROS2 integration flow | [docs/architecture.md](docs/architecture.md) |
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| Installation, directory structure & running | [docs/installation.md](docs/installation.md) |
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| Troubleshooting & known issues | [docs/troubleshooting.md](docs/troubleshooting.md) |
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| Guide: adding a new ROS2 package | [docs/ros2-package-guide.md](docs/ros2-package-guide.md) |
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| `blockly_app` — file reference | [src/blockly_app/README.md](src/blockly_app/README.md) |
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| `blockly_app` — creating custom blocks (full guide + reference) | [src/blockly_app/BLOCKS.md](src/blockly_app/BLOCKS.md) |
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| `blockly_executor` — file reference, handlers & testing guide | [src/blockly_executor/README.md](src/blockly_executor/README.md) |
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| `blockly_interfaces` — ROS2 action & message interfaces | [src/blockly_interfaces/README.md](src/blockly_interfaces/README.md) |
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| `gpio_node` — Raspberry Pi GPIO node (C++, libgpiod) | [src/gpio_node/](src/gpio_node/) |
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| `pca9685_node` — PCA9685 16-channel PWM controller (C++, I2C) | [src/pca9685_node/](src/pca9685_node/) |
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---
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## Quick Start
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### Desktop (linux-64)
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```bash
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pixi install # first time only
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pixi run build-interfaces # must build interfaces first
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pixi run build # build all packages
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pixi run setup-ui # download Blockly JS vendor files (first time, needs internet)
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pixi run executor # Terminal 1 — start Action Server
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pixi run app # Terminal 2 — start desktop GUI
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```
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### Raspberry Pi (linux-aarch64)
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```bash
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pixi install # install ROS2 + deps via conda
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pixi run build-gpio # installs system deps (apt) + builds gpio_node
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pixi run build-pca9685 # installs system deps (apt) + builds pca9685_node
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pixi run gpio-node # start GPIO node
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pixi run pca9685-node # start PCA9685 PWM node
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```
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`build-gpio` and `build-pca9685` automatically run `setup-dep` which installs system libraries (`libgpiod-dev`, `liblttng-ust-dev`, `i2c-tools`) via `apt`.
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See [docs/installation.md](docs/installation.md) for full setup and prerequisites.
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