Context

Temporary repository to build the mechanical description of the zuu mobile base. Eventually, will be merged into : https://github.com/pollen-robotics/reachy2021_ros2_control/tree/main/reachy_description

Setup

Add to your bashrc:

export GAZEBO_RESOURCE_PATH=/usr/share/gazebo-11
export ZUUU_MAP_NAME=hospital

Create a /meshes folder:

mkdir -p zuuu_description/meshes
cd zuuu_description/meshes

Download the mesh used: link.

Usage

For a simulated environment:

ros2 launch zuuu_description full_simulation_navigation.launch.py

To create a map on the physical robot:

ros2 launch zuuu_description zuuu_full_navigation.launch.py

To start the navigation on the physical robot, if your map name is jean_jaures_haut.yaml, add this to your bashrc:

export ZUUU_MAP_NAME=jean_jaures_haut

Then:

ros2 launch zuuu_description zuuu_full_navigation.launch.py

List of launch files and uses

Launch files starting with “zuuu” are intended to be used on the physical robot. There are a lot of them for convenience but their content is pretty straightforward.

description_bringup

Nodes: joint_state_broadcaster_spawner robot_state_publisher_node controller_manager_node

Default parameters for robot_description_content : ‘use_gazebo:=false’, ‘use_fake_components:=false’, ‘use_fixed_wheels:=true’, ‘use_ros_control:=false’,

gazebo_simulation

Nodes: joint_state_broadcaster_spawner, robot_state_publisher_node, spawn_entity, controller_manager_node,

Default parameters for robot_description_content : ‘use_gazebo:=true’, ‘use_fake_components:=false’, ‘use_fixed_wheels:=true’, ‘use_ros_control:=true’,

full_simulation_navigation

Launches: gazebo_simulation navigation rviz_navigation

mapping

Nodes: slam_toolbox

navigation

Launches: Nav2’s bringup_launch

rviz_bringup

Nodes: rviz2

zuuu_bringup

Nodes: Rviz

Launches: zuuu_rplidar_s2_launch description_bringup hal_launch

zuuu_bringup_low_level_only

Launches: zuuu_rplidar_s2_launch hal_launch

zuuu_bringup_no_rviz

Launches: zuuu_rplidar_s2_launch description_bringup hal_launch

zuuu_full_mapping

Launches: zuuu_bringup mapping

zuuu_full_navigation

Launches: zuuu_bringup navigation