megarover_samples_ros2

Introduction

This is a ROS2 Package to develop package of megarover using Gazebo. I used model, mesh and world files of https://github.com/vstoneofficial/megarover_samples as a reference.

If you use ROS2 Galactic, please check galactic branch.

Requirements

• ROS2 Humble
• Classic Gazebo or Gazebo Fortress

And, I have tested with Eclipse Cyclone DDS as RMW implementation. If you use this RMW implementation, please install according to the following command.

$ sudo apt install ros-humble-rmw-cyclonedds-cpp
$ export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp

Build

$ mkdir -p ~/dev_ws/src
$ cd ~/dev_ws/src
$ git clone https://github.com/atinfinity/megarover_samples_ros2.git
$ cd ..
$ rosdep install -y -i --from-paths src/megarover_samples_ros2
$ colcon build --symlink-install
$ source ~/dev_ws/install/setup.bash

Mapping

Launch Gazebo

If you use headless mode, add the option gui:=false.

$ ros2 launch megarover_samples_ros2 vmegarover_with_sample_world.launch.py

NOTE (humble only):

In humble, gazebo_ros2_control can be activated. If you want to do activation with gazebo_ros2_control, add the option use_ros2_control:=true. However, at this time, gazebo_ros2_control and is still under development and unstable.

$ ros2 launch megarover_samples_ros2 vmegarover_with_sample_world.launch.py use_ros2_control:=true

In addition, with gazebo:=ignition option, it is possible to start with an Ignition Gazebo.

$ ros2 launch megarover_samples_ros2 vmegarover_with_sample_world.launch.py gazebo:=ignition use_ros2_control:=true

Launch Slam Toolbox for Mapping

$ ros2 launch megarover_samples_ros2 vmegarover_mapping.launch.py

Launch Teleop

$ ros2 run teleop_twist_keyboard teleop_twist_keyboard

Save Map

$ mkdir ~/maps
$ ros2 launch megarover_samples_ros2 vmegarover_save_map.launch.py

Navigation

Launch Gazebo

If you use headless mode, add the option gui:=false.

$ ros2 launch megarover_samples_ros2 vmegarover_with_sample_world.launch.py

Launch Navigation

$ ros2 launch megarover_samples_ros2 vmegarover_navigation.launch.py map:=$HOME/maps/vmegarover_samplemap.yaml

ToDo

• 2D Scan
• RGBD Camera
• odometry
• teleop
• slam_toolbox
• amcl
• navigation