Clone and build the repo. Then, it can run.

git clone --recursive https://github.com/jingjingccc/Eurobot2023_ws.git 

INSTALL

sudo apt-get install ros-{distro}-rosserial ros-{distro}-rosserial-arduino
sudo apt-get install ros-{distro}-costmap-converter
sudo apt-get install ros-{distro}-navigation
sudo apt-get install build-essential zlib1g-dev libx11-dev libusb-1.0-0-dev freeglut3-dev liblapacke-dev libopenblas-dev libatlas-base-dev cmake

BUILD

[YDLiDAR]

mkdir ~/Eurobot2023_ws/src/YDLidar-SDK/build
cd ~/Eurobot2023_ws/src/YDLidar-SDK/build
cmake ..
make 
sudo make install

[libsurvive]

cd ~/Eurobot2023_ws/src/libsurvive
make

[WiringPi]

cd ~/Eurobot2023_ws/src/WiringPi
./build

[]

# at the root of the workspace
catkin_make

SETTING

[vive lighthouse / tracker permission]

sudo cp -r 81-vive.rules /etc/udev/rules.d

[rename RPI USB ports]

originated from : @sunfu-chou

chmod +x ./rename_RPI_USB_ports.sh
sudo ./rename_RPI_USB_ports.sh

# check USB port
ls -l /dev | grep ttyUSB

[Set up GPIOs on RPi for STM32 UARTs(for rosserial to work)]

cd ../../boot/firmware #some will in just boot/
sudo nano config.txt

add the following on the bottom:

dtoverlay=uartx #for GPIO14, 15, x=0

after rebooted, test if the GPIOs are activated:

dmesg | grep tty

if ttyAMA0 is shown, then it worked

RUN

# at the root of the workspace
source devel/setup.bash
roslaunch robot_navigation run.launch

(TO BE EDITED...)