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marathon_ros2 repositorymarathon_log_nodes marathon_ros2_bringup marathon_ros2_csv marathon_ros2_wp_manager |
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Repository Summary
| Description | |
| Checkout URI | https://github.com/intelligentroboticslabs/marathon_ros2.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2023-11-07 |
| Dev Status | UNKNOWN |
| 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.
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