bosch_locator_bridge_utils package from locator_ros_bridge repo

bosch_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

Utilities to use bosch_locator_bridge with Nav2

Additional Links

No additional links.

Maintainers

  • Stefan Laible

Authors

No additional 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...

CHANGELOG
No CHANGELOG found.

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged bosch_locator_bridge_utils at answers.ros.org

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.

bosch_locator_bridge_utils package from locator_ros_bridge repo

bosch_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

Utilities to use bosch_locator_bridge with Nav2

Additional Links

No additional links.

Maintainers

  • Stefan Laible

Authors

No additional 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...

CHANGELOG
No CHANGELOG found.

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged bosch_locator_bridge_utils at answers.ros.org

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