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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.

Dependant Packages

Name Deps
ceres_robot

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged ceres_gazebo at Robotics Stack Exchange

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