massrobotics_amr_sender package from ros_amr_interop repo


Package Summary

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Version 1.0.0
License 3-Clause BSD License

Repository Summary

Checkout URI
VCS Type git
VCS Version foxy-devel
Last Updated 2021-07-27
CI status No Continuous Integration
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Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

MassRobotics AMR Interop Sender

Additional Links

No additional links.


  • InOrbit


No additional authors.


Configuration-based ROS2 package for sending MassRobotics AMR Interop Standard messages to compliant receivers.

Package installation

From binary packages

The node is available as a released package and can be added manually to your ROS2 build installation running the following command:

$ sudo apt-get install ros-foxy-massrobotics-amr-sender

Alternatively, you can add the package as a rosdep dependency and then install it running rosdep update

Building from source

Make sure ros2 is installed properly. Then clone this repository inside your src folder on your local workspace and build the package executing the following commands:

# Create a ROS2 workspace and go into it - if you don't have one already
mkdir -p ~/ros2_ws/src && cd ros2_ws/
# Clone the repo inside the workspace
git clone ./src
# Install dependencies
rosdep update && rosdep install --ignore-src --from-paths src/
# Run the build
colcon build --packages-select massrobotics_amr_sender

Node configuration

A configuration file must be provided to define how ROS2 messages are mapped to different AMR Interop Standard messages. A sample_config.yaml is provided for reference.

Running the sender node

The node takes the MassRobotics AMR config file path as parameter. If not provided, it is assumed the file is on the current directory.

# Remember to source the ROS2 environment from the binary installation or your workspace overlay
source install/setup.bash
# Launch the node pointing to your configuration file
ros2 launch massrobotics_amr_sender config_file:=/path/to/config.yaml

Running tests

On you local workspace:

colcon test --packages-select massrobotics_amr_sender
colcon test-result --verbose


Changelog for package massrobotics_amr_sender

1.0.0 (2021-06-25)

  • Adding bits for first release (#7)

0.0.2 (2021-06-24)

  • Changed package name to massrobotics_amr_sender
  • Changed repository folder organization

0.0.1 (2021-06-23)

  • Added support for Identity and Status reports
  • Added support for several ROS2 messages
    • geometry_msgs/TwistStamped
    • sensor_msgs/BatteryState
    • geometry_msgs/PoseStamped
    • nav_msgs/Path
    • std_msgs/String
    • std_msgs/Float32
    • std_msgs/Float64
  • Added unit tests for all message callbacks
  • Added 3-Clause BSD License

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

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Launch files

No launch files found


No message files found.


No service files found


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