ROS IndexNo version for distro humble. Known supported distros are highlighted in the buttons above.
No version for distro jazzy. Known supported distros are highlighted in the buttons above.
No version for distro rolling. Known supported distros are highlighted in the buttons above.
|
marathon_ros2 repositorymarathon_log_nodes marathon_ros2_bringup marathon_ros2_csv marathon_ros2_wp_manager |
|
|
Repository Summary
| Checkout URI | https://github.com/intelligentroboticslabs/marathon_ros2.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2023-11-07 |
| Dev Status | UNMAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
| Name | Version |
|---|---|
| marathon_log_nodes | 0.0.1 |
| marathon_ros2_bringup | 0.0.0 |
| marathon_ros2_csv | 0.0.1 |
| marathon_ros2_wp_manager | 0.0.0 |
README
marathon_ros2
Working components for the experiment
- Tiago drivers in ROS
- ros1_bridge
- cmd_vel_mux and tf_static_resender to correctly bridge all the required topics and tf ROS <-> ROS2
- Navigation2
- STVL
- TEB
- Adjust/optimize speeds and other parameters for Tiago
- Tool to monitorize experiment (distance and time)
- ROSbag configuration
- Launcher to launch experiment complete
Instructions to reproduce this experiment
- Create a new workspace with the ROS2 sources. Follow this instructions of the ROS2 wiki.
Before compile the workspace, change the ros1_bridge for this version.
- Is important to compile this workspace, compile first without the ros1_bridge:
colcon build --symlink-install --packages-skip ros1_bridge
- If the compilation conclude and everything is OK do:
source /opt/ros/melodic/setup.bash
colcon build --symlink-install --packages-select ros1_bridge --cmake-force-configure
- Create other workspace with the marathon_ros2 and the dependencies.
vcs import src < marathon.repos
- When the two workspaces are compiled you can start with the marathon…
- Open 6 differents terminals and run:
# Terminal 1
source ~/ros2_sources_ws/install/setup.bash
source /opt/ros/melodic/setup.bash
ros2 run ros1_bridge tf_static_1_to_2
# Terminal 2
source ~/ros2_sources_ws/install/setup.bash
source /opt/ros/melodic/setup.bash
ros2 run ros1_bridge imu_1_to_2
# Terminal 3
source ~/ros2_sources_ws/install/setup.bash
source /opt/ros/melodic/setup.bash
ros2 run ros1_bridge scan_1_to_2
# Terminal 4
source ~/ros2_sources_ws/install/setup.bash
source /opt/ros/melodic/setup.bash
ros2 run ros1_bridge tf_1_to_2
# Terminal 5
source ~/ros2_sources_ws/install/setup.bash
source /opt/ros/melodic/setup.bash
ros2 run ros1_bridge pc2_1_to_2
# Terminal 6
source ~/ros2_sources_ws/install/setup.bash
source /opt/ros/melodic/setup.bash
ros2 run ros1_bridge twist_2_to_1
- Open two more terminals and run:
# Terminal 7
source ~/ros2_sources_ws/install/setup.bash
source ~/ros2_ws/install/setup.bash
ros2 launch marathon_ros2_bringup nav2_tiago_launch.py
# Terminal 8
source ~/ros2_sources_ws/install/setup.bash
source ~/ros2_ws/install/setup.bash
ros2 topic pub /start_navigate std_msgs/msg/Empty {}
CONTRIBUTING
No CONTRIBUTING.md found.
No version for distro noetic. Known supported distros are highlighted in the buttons above.
No version for distro ardent. Known supported distros are highlighted in the buttons above.
No version for distro bouncy. Known supported distros are highlighted in the buttons above.
No version for distro crystal. Known supported distros are highlighted in the buttons above.
No version for distro eloquent. Known supported distros are highlighted in the buttons above.
No version for distro dashing. Known supported distros are highlighted in the buttons above.
No version for distro galactic. Known supported distros are highlighted in the buttons above.
No version for distro foxy. Known supported distros are highlighted in the buttons above.
No version for distro iron. Known supported distros are highlighted in the buttons above.
No version for distro lunar. Known supported distros are highlighted in the buttons above.
No version for distro jade. Known supported distros are highlighted in the buttons above.
No version for distro indigo. Known supported distros are highlighted in the buttons above.
No version for distro hydro. Known supported distros are highlighted in the buttons above.
No version for distro kinetic. Known supported distros are highlighted in the buttons above.
No version for distro melodic. Known supported distros are highlighted in the buttons above.