the limo ros1 package

Hi, I have a limo robot.

I succeeded to make the robot running with the "normal" wheels.

I changed the wheel to the omnidirectionnal ones, but they are not running any more.

When I published something in cmd_vel. I can hear a some noise (like something is locking), but the wheel still do not move. When I tried the ackermann, the direction is working.

Can you help me ?

I am loading limo_ros into a catkin workspace, and catkin_make works fine but the launch gives an error

Resource not found: ydlidar_ros ROS path [0]=/opt/ros/noetic/share/ros ROS path [1]=/home/user/catkin_ws/src ROS path [2]=/home/user/simulation_ws/src ROS path [3]=/home/simulations/public_sim_ws/src

When I add the ydlidar_ros repository I get a different error

Error initializing YDLIDAR check Comms. [ERROR] [1652111631.807010110]: Error initializing YDLIDAR Comms and Status!!! [limo_base_node-2] process has died [pid 3318, exit code 255, cmd /home/user/catkin_ws/devel/lib/limo_base/limo_base_node__name:=limo_base_node __log:=/home/user/.ros/log/37b1dafa-cfb0-11ec-8b44-0242ac140007/limo_base_node-2.log]

This doesn't seem like an error running on noetic instead of melodic.

Do I need to run a different branch of ydlidar_ros? Or do I need to clone the version on the Limo (which doesn't appear to be from a public repository)?

Thanks if you can help!

Hi in this video https://www.youtube.com/watch?v=icWWjyr9G_U it looks like a map is been created and there is a localization node running

can you specify how you did it ? which launch files should I use? And do I need to first create the map with the cartographer or gmapping and then run other launches simultaneously? and if yes, which navigation (diff/ackerman/both)?

thanks

I want to change the "eyes" screen that just blink I get that it's connected with serial but is there some driver for it? is there some firmware that runs somewhere? and if there is, can you supply an example