|
bosch_locator_bridge_utils package from locator_ros_bridge repobosch_locator_bridge bosch_locator_bridge_utils |
|
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/boschglobal/locator_ros_bridge.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2022-11-08 |
| Dev Status | MAINTAINED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Stefan Laible
Authors
General information about this repository, including legal information and build instructions are given in README.md in the repository root.
bosch_locator_bridge_utils
Overview
This package provides utilities to use bosch_locator_bridge directly with Nav2.
It provides the ROKIT Locator map as a grid map, and calculates the corresponding transformation from the localization poses.
The package has been tested under ROS 2 Galactic and Ubuntu 20.04.
Quick Start
This section describes how to use this package to setup the localization part of Nav2.
Start the ROKIT Locator and the ROS Bridge
First of all, the ROKIT Locator and the corresponding ROS bridge must be started. Please see the README.md of the bosch_locator_bridge package for details.
ros2 launch bosch_locator_bridge bridge.launch.xml
Provide interface to Nav2
Then, start the locator_node and the locator_map_server nodes with
ros2 launch bosch_locator_bridge_utils localization_launch.py
From the localization poses, the locator_node node calculates and broadcasts the transformation between the map and the odom frame, which is required for a complete transformation tree for Nav2.
The map_server node converts the point cloud map from the ROKIT Locator to a grid map, also needed by Nav2.
To see the map and the transformation tree, start RViz with
ros2 run rviz2 rviz2 -d $(ros2 pkg prefix bosch_locator_bridge_utils)/share/bosch_locator_bridge_utils/config/localization.rviz
Now everything is ready in terms of localization to start navigating...
Wiki Tutorials
Source Tutorials
Package Dependencies
| Deps | Name | |
|---|---|---|
| 1 | ament_cmake | |
| 1 | ament_lint_auto | |
| 1 | ament_lint_common | |
| 2 | geometry_msgs | |
| 2 | nav_msgs | |
| 1 | nav2_util | |
| 3 | pcl_conversions | |
| 1 | rclcpp | |
| 3 | std_srvs | |
| 3 | tf2_ros |
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged bosch_locator_bridge_utils at answers.ros.org
|
|
bosch_locator_bridge_utils package from locator_ros_bridge repobosch_locator_bridge bosch_locator_bridge_utils |
|
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/boschglobal/locator_ros_bridge.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2022-11-08 |
| Dev Status | MAINTAINED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Stefan Laible
Authors
General information about this repository, including legal information and build instructions are given in README.md in the repository root.
bosch_locator_bridge_utils
Overview
This package provides utilities to use bosch_locator_bridge directly with Nav2.
It provides the ROKIT Locator map as a grid map, and calculates the corresponding transformation from the localization poses.
The package has been tested under ROS 2 Galactic and Ubuntu 20.04.
Quick Start
This section describes how to use this package to setup the localization part of Nav2.
Start the ROKIT Locator and the ROS Bridge
First of all, the ROKIT Locator and the corresponding ROS bridge must be started. Please see the README.md of the bosch_locator_bridge package for details.
ros2 launch bosch_locator_bridge bridge.launch.xml
Provide interface to Nav2
Then, start the locator_node and the locator_map_server nodes with
ros2 launch bosch_locator_bridge_utils localization_launch.py
From the localization poses, the locator_node node calculates and broadcasts the transformation between the map and the odom frame, which is required for a complete transformation tree for Nav2.
The map_server node converts the point cloud map from the ROKIT Locator to a grid map, also needed by Nav2.
To see the map and the transformation tree, start RViz with
ros2 run rviz2 rviz2 -d $(ros2 pkg prefix bosch_locator_bridge_utils)/share/bosch_locator_bridge_utils/config/localization.rviz
Now everything is ready in terms of localization to start navigating...
Wiki Tutorials
Source Tutorials
Package Dependencies
| Deps | Name | |
|---|---|---|
| 1 | ament_cmake | |
| 1 | ament_lint_auto | |
| 1 | ament_lint_common | |
| 2 | geometry_msgs | |
| 2 | nav_msgs | |
| 1 | nav2_util | |
| 3 | pcl_conversions | |
| 1 | rclcpp | |
| 3 | std_srvs | |
| 3 | tf2_ros |