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omo_r1mini-foxy repository

omo_r1mini-foxy repository

omo_r1mini-foxy repository

omo_r1mini-foxy repository

omo_r1mini omo_r1mini_bringup omo_r1mini_cartographer omo_r1mini_description omo_r1mini_gazebo omo_r1mini_interfaces omo_r1mini_navigation2 omo_r1mini_teleop

Repository Summary

Description ROS packages for omorobot r1 mini
Checkout URI https://github.com/omorobot/omo_r1mini-foxy.git
VCS Type git
VCS Version main
Last Updated 2024-07-29
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
omo_r1mini 0.0.1
omo_r1mini_bringup 0.0.1
omo_r1mini_cartographer 0.0.1
omo_r1mini_description 0.0.1
omo_r1mini_gazebo 0.0.1
omo_r1mini_interfaces 0.0.0
omo_r1mini_navigation2 0.0.1
omo_r1mini_teleop 0.0.1

README

ROS2 packages for omorobot r1 mini

This project is to demonstrate R1mini control and navigation in ROS2-foxy environment.
한국어 사용자는 다음 한국어문서를 참조하십시오.

Build source

Clone source

  cd {$workspace_path}/src/
  git clone https://github.com/omorobot/omo_r1mini-foxy.git
  git clone https://github.com/PinkWink/YDLidar-SDK.git
  git clone https://github.com/PinkWink/ydlidar_ros2_driver.git

Build LiDAR’s SDK

  cd {$workspace_path}/src/YDLidar-SDK
  cd build
  cmake ..
  make
  sudo make install

Install dependency packages

Following additional packages may be reuqired to be installed.

  • gazebo
  • ros-foxy-gazebo-ros-pkgs
  • cartographer-ros
  • nav2_map_server
  • pyserial
sudo apt install -y ros-foxy-gazebo-ros ros-foxy-cartographer-ros ros-foxy-nav2-map-server ros-foxy-gazebo-ros-pkgs

pip install pyserial

Build ROS2 source

  • To build
  cd {$workspace_path}
  colcon build --symlink-install
  • To enable the built source into ROS2 environment
  cd {$workspace_path}
  ./install/setup.bash

Play with the robot

  • To give authority for driver access to MCU and LiDAR
cd {$workspace_path}/src/omo_r1mini/omo_r1mini_bringup
sudo sh create_udev_rules.sh
  • To bringup robot
cd {$workspace_path}
ros2 launch omo_r1mini_bringup omo_r1mini_bringup.launch.py
  • To bringup robot (in simulation environment)
cd {$workspace_path}
ros2 launch omo_r1mini_gazebo omo_r1mini.launch.py
  • To teleoperate the robot using KEYBOARD 
cd {$workspace_path}
ros2 run omo_r1mini_teleop teleop_keyboard
  • To conduct SLAM (Try after few seconds from MCU and LiDAR bringup)
cd {$workspace_path}
ros2 launch omo_r1mini_cartographer cartographer.launch.py
ros2 launch omo_r1mini_cartographer cartographer_rviz.launch.py
  • Once mapping is done, you can create map.pgm and map.yaml file by executing
cd {$HOME}
ros2 run nav2_map_server map_saver_cli -f map
  • To conduct path planning & following (Try after few seconds from MCU and LiDAR bringup)
cd {$workspace_path}
ros2 launch omo_r1mini_navigation2 navigation2.launch.py map:=$HOME/map.yaml
ros2 launch omo_r1mini_navigation2 navigation2_rviz.launch.py

R1mini 공식 ROS2 패키지

소스 빌드하기

소스 받아오기

workspace_path 는 ros2의 작업공간입니다(workspace)

  cd {$workspace_path}/src/
  git clone https://github.com/omorobot/omo_r1mini-foxy.git
  git clone https://github.com/PinkWink/YDLidar-SDK.git
  git clone https://github.com/PinkWink/ydlidar_ros2_driver.git

YD-라이다 SDK 패키지 빌드

  cd {$workspace_path}/src/YDLidar-SDK
  cd build
  cmake ..
  make
  sudo make install

추가 패키지 설치하기

다음 패키지들이 필요할 수 있습니다.

  • gazebo
  • ros-foxy-gazebo-ros-pkgs
  • cartographer-ros
  • nav2_map_server
  • nav2_bringup
  • pyserial : 파이썬에서 serial을 import하기 위함
sudo apt install -y ros-foxy-gazebo-ros\
 ros-foxy-cartographer-ros\
 ros-foxy-nav2-map-server\
 ros-foxy-gazebo-ros-pkgs\
 ros-foxy-nav2-bringup

pip install pyserial

ROS2 소스코드 빌드하기

  • 터미널에서 다음과 같이 입력합니다.
cd {$workspace_path}
colcon build --symlink-install
  • 빌드한 소스를 bash에 등록하기 위해 다음을 입력합니다.
cd {$workspace_path}
source install/setup.bash

R1mini 로봇 조작하기

  • YD-라이다의 USB포트 경로를 /dev/ttyLiDAR 로 변경하기 위해 다음을 수행합니다.
cd {$workspace_path}/src/omo_r1mini/omo_r1mini_bringup
sudo sh create_udev_rules.sh
  • R1mini 브링업
  cd {$workspace_path}
  ros2 launch omo_r1mini_bringup omo_r1mini_bringup.launch.py
  • 시뮬레이션 환경에서 로봇을 브링업 하는 방법은 다음과 같습니다.
  cd {$workspace_path}
  ros2 launch omo_r1mini_gazebo omo_r1mini.launch.py
  • 키보드를 사용하여 조작하기 위해 키보드 Teleop 노드를 실행합니다.
  cd {$workspace_path}
  ros2 run omo_r1mini_teleop teleop_keyboard
  • SLAM을 실행하기위해 다음을 입력합니다. (MCU 와 LiDAR 가 정상적으로 동작할때까지 기다린 후 실행합니다)
  cd {$workspace_path}
  ros2 launch omo_r1mini_cartographer cartographer.launch.py
  ros2 launch omo_r1mini_cartographer cartographer_rviz.launch.py
  • SLAM 매핑이 완료되면 다음 명령으로 map.pgm과 map.yaml 파일을 만들 수 있습니다.
cd {$HOME}
ros2 run nav2_map_server map_saver_cli -f map
  • 경로 계획(Path planning)과 추종(following)을 위해 다음을 실행합니다. (키보드 Teleop 노드는 중지합니다)
  cd {$workspace_path}
  ros2 launch omo_r1mini_navigation2 navigation2.launch.py map:=$HOME/map.yaml
  ros2 launch omo_r1mini_navigation2 navigation2_rviz.launch.py

CONTRIBUTING

No CONTRIBUTING.md found.

omo_r1mini-foxy repository

omo_r1mini-foxy repository

omo_r1mini-foxy repository

omo_r1mini-foxy repository

omo_r1mini-foxy repository

omo_r1mini-foxy repository

omo_r1mini-foxy repository

omo_r1mini-foxy repository

omo_r1mini-foxy repository

omo_r1mini-foxy repository

omo_r1mini-foxy repository

omo_r1mini-foxy repository

omo_r1mini-foxy repository

omo_r1mini-foxy repository

omo_r1mini-foxy repository