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ceres_gazebo package from ceres_robot repoceres_bringup ceres_description ceres_gazebo ceres_localization ceres_navigation ceres_robot ceres_util |
Package Summary
| Tags | No category tags. |
| Version | 2.0.0 |
| License | BSD |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | ceres robot ros driver and tools |
| Checkout URI | https://github.com/uos/ceres_robot.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2024-06-03 |
| Dev Status | UNKNOWN |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | robot ros |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Launch files for starting up Ceres in the Gazebo simulator.
Additional Links
No additional links.
Maintainers
- Isaak Ihorst
Authors
No additional authors.
Ceres Gazebo
Start the simulation of the Ceres robot in AVZ world
ros2 launch ceres_gazebo ceres_gazebo_launch.py
SLAM
In a new terminal run:
ros2 launch ceres_localization slam_toolbox_launch.py
Open RViz and display the topic /map. Steer the robot via teleop and record a map.
ros2 launch uos_diffdrive_teleop key.launch
Save the map via
ros2 service call /map_saver_server/save_map nav2_msgs/srv/SaveMap "{map_topic: map, map_url: my_map, image_format: pgm, map_mode: trinary, free_thresh: 0.25, occupied_thresh: 0.65}"
I created an alias for that in my .bashrc.
AMCL
First start RViz. Then run
ros2 launch ceres_gazebo amcl_avz_launch.py
I the map is not visible in RViz you need to restart the amcl launch file
CHANGELOG
No CHANGELOG found.
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| gazebo_ros | |
| ceres_description | |
| ceres_localization | |
| ros2launch | |
| ament_lint_auto | |
| ament_lint_common | |
| urdf | |
| xacro |
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| ceres_robot |
Launch files
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
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