ROS2 AMR interface

Lightweight package to get AMRs working with ROS2.

Launch file

ros2 launch ros2_amr_interface minimal_launch.py

Nodes

• amr_interface_node

How install

1. Prerequisites

• ROS2
• colcon
• workspace
• permissions on dialout

2. Install AMR interface package

You require to install dependencies, since binaries sometimes are not updated install transport_drivers from source:

cd ~/dev_ws/src
git clone https://github.com/ros-drivers/transport_drivers.git
cd ..
rosdep install --from-paths src --ignore-src -r -y
colcon build
source install/setup.bash

then install amr package by:

cd ~/dev_ws/src
git clone https://github.com/gbr1/ros2_amr_interface.git
cd ..
rosdep install --from-paths src --ignore-src -r -y
colcon build
source install/setup.bash

NOTE: add install/setup.bash to your .bashrc to be faster in using terminal tabs

Parameters

You can learn more about node’s parameters here.

Topics

Check this documentation about pub/sub topics.

Examples

If you need to use ros2_amr_interface with your own hardware, you can check this guide on how to use with arduino.
There are also some config files for rviz and joypads, here an example of how to start a joypad.
This guide helps you to understand how change your launch file parameters.

Copyright (c) 2022 G. Bruno under MIT license