bcr_bot repository

Repository Summary

Checkout URI https://github.com/blackcoffeerobotics/bcr_bot.git
VCS Type git
VCS Version ros2
Last Updated 2023-12-25
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

Name Version
bcr_bot 1.0.1

README

New BCR Robot

https://github.com/blackcoffeerobotics/bcr_bot/assets/13151010/0fc570a3-c70c-415b-8222-b9573d5911c8

About

This repository contains a Gazebo simulation for a differential drive robot, equipped with an IMU, a depth camera, stereo camera and a 2D LiDAR. The primary contriution of this project is to support multiple ROS and Gazebo distros. Currently, the project supports the following versions -

  1. ROS Noetic + Gazebo Classic 11 (branch ros1)
  2. ROS2 Humble + Gazebo Classic 11 (branch ros2)
  3. ROS2 Humble + Gazebo Fortress (branch ros2)

Each of the following sections describes depedencies, build and run instructions for each of the above combinations

Noetic + Classic (Ubuntu 20.04)

Dependencies

In addition to ROS1 Noetic and Gazebo Classic installations, the dependencies can be installed with rosdep

# From the root directory of the workspace. This will install everything mentioned in package.xml
rosdep install --from-paths src --ignore-src -r -y

Build

catkin build --packages-select bcr_bot

Run

To launch the robot in Gazebo,

roslaunch bcr_bot gazebo.launch

To view in rviz,

roslaunch bcr_bot rviz.launch

Configuration

The launch file accepts multiple launch arguments,

roslaunch bcr_bot gazebo.launch 
    camera_enabled:=True \
    two_d_lidar_enabled:=True \
    position_x:=0.0 \
    position_y:=0.0 \
    orientation_yaw:=0.0 \
    odometry_source:=world \
    world_file:=small_warehouse.world \
    robot_namespace:="bcr_bot"

Note: To use stereo_image_proc with the stereo images excute following command:

ROS_NAMESPACE=bcr_bot/stereo_camera rosrun stereo_image_proc stereo_image_proc

Humble + Classic (Ubuntu 22.04)

Dependencies

In addition to ROS2 Humble and Gazebo Classic installations, we need to manually install gazebo_ros_pkgs (since the same branch supports Classic and Fortress)

sudo apt-get install ros-humble-gazebo-ros-pkgs

Remainder of the dependencies can be installed with rosdep

# From the root directory of the workspace. This will install everything mentioned in package.xml
rosdep install --from-paths src --ignore-src -r -y

Build

colcon build --packages-select bcr_bot

Run

To launch the robot in Gazebo,

ros2 launch bcr_bot gazebo.launch.py

To view in rviz,

ros2 launch bcr_bot rviz.launch.py

Configuration

The launch file accepts multiple launch arguments,

ros2 launch bcr_bot gazebo.launch.py \
    camera_enabled:=True \
    two_d_lidar_enabled:=True \
    stereo_camera_enabled:=False \
    position_x:=0.0 \
    position_y:=0.0 \
    orientation_yaw:=0.0 \
    odometry_source:=world \
    world_file:=small_warehouse.sdf \
    robot_namespace:="bcr_bot"

Note: To use stereo_image_proc with the stereo images excute following command:

ros2 launch stereo_image_proc stereo_image_proc.launch.py left_namespace:=bcr_bot/stereo_camera/left right_namespace:=bcr_bot/stereo_camera/right

Humble + Fortress (Ubuntu 22.04)

Dependencies

In addition to ROS2 Humble and Gazebo Fortress installations, we need to manually install interfaces between ROS2 and Gazebo sim as follows,

sudo apt-get install ros-humble-ros-gz-sim ros-humble-ros-gz-bridge ros-humble-ros-gz-interfaces 

Remainder of the dependencies can be installed with rosdep

# From the root directory of the workspace. This will install everything mentioned in package.xml
rosdep install --from-paths src --ignore-src -r -y

Build

colcon build --packages-select bcr_bot

Run

To launch the robot in Gazebo,

ros2 launch bcr_bot gz.launch.py

To view in rviz,

ros2 launch bcr_bot rviz.launch.py

Configuration

The launch file accepts multiple launch arguments,

ros2 launch bcr_bot gz.launch.py \
    camera_enabled:=True \
    stereo_camera_enabled:=False \
    two_d_lidar_enabled:=True \
    position_x:=0.0 \
    position_y:=0.0  \
    orientation_yaw:=0.0 \
    odometry_source:=world \
    world_file:=small_warehouse.sdf

Note: To use stereo_image_proc with the stereo images excute following command:

ros2 launch stereo_image_proc stereo_image_proc.launch.py left_namespace:=bcr_bot/stereo_camera/left right_namespace:=bcr_bot/stereo_camera/right

Simulation and Visualization

  1. Gz Sim (Ignition Gazebo) (small_warehouse World):

  2. Rviz (Depth camera) (small_warehouse World):

CONTRIBUTING

No CONTRIBUTING.md found.

Repository Summary

Checkout URI https://github.com/blackcoffeerobotics/bcr_bot.git
VCS Type git
VCS Version ros1
Last Updated 2023-12-25
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

Name Version
bcr_bot 0.0.1

README

New BCR Robot

About

This repository contains a Gazebo simulation for a differential drive robot, equipped with an IMU, a depth camera and a 2D LiDAR. The primary contriution of this project is to support multiple ROS and Gazebo distros. Currently, the project supports the following versions -

  1. ROS Noetic + Gazebo Classic 11 (branch ros1)
  2. ROS2 Humble + Gazebo Classic 11 (branch ros2)
  3. ROS2 Humble + Gazebo Fortress (branch ros2)

Each of the following sections describes depedencies, build and run instructions for each of the above combinations

Noetic + Classic (Ubuntu 20.04)

Dependencies

In addition to ROS1 Noetic and Gazebo Classic installations, the dependencies can be installed with rosdep

# From the root directory of the workspace. This will install everything mentioned in package.xml
rosdep install --from-paths src --ignore-src -r -y

Build

catkin build --packages-select bcr_bot

Run

To launch the robot in Gazebo,

roslaunch bcr_bot gazebo.launch

To view in rviz,

roslaunch bcr_bot rviz.launch

Configuration

The launch file accepts multiple launch arguments,

roslaunch bcr_bot gazebo.launch \
    camera_enabled:=True \
    two_d_lidar_enabled:=True \
    stereo_camera_enabled:=True \
    position_x:=0.0 \
    position_y:=0.0 \
    orientation_yaw:=0.0 \
    odometry_source:=world \
    world_file:=small_warehouse.world \
    robot_namespace:="bcr_bot"

Note: To use stereo_image_proc with the stereo images excute following command:

ROS_NAMESPACE=bcr_bot/stereo_camera rosrun stereo_image_proc stereo_image_proc

Humble + Classic (Ubuntu 22.04)

Dependencies

In addition to ROS2 Humble and Gazebo Classic installations, we need to manually install gazebo_ros_pkgs (since the same branch supports Classic and Fortress)

sudo apt-get install ros-humble-gazebo-ros-pkgs

Remainder of the dependencies can be installed with rosdep

# From the root directory of the workspace. This will install everything mentioned in package.xml
rosdep install --from-paths src --ignore-src -r -y

Build

colcon build --packages-select bcr_bot

Run

To launch the robot in Gazebo,

ros2 launch bcr_bot gazebo.launch.py

To view in rviz,

ros2 launch bcr_bot rviz.launch.py

Configuration

The launch file accepts multiple launch arguments,

ros2 launch bcr_bot gazebo.launch.py \
    camera_enabled:=True \
    two_d_lidar_enabled:=True \
    stereo_camera_enabled:=False \
    position_x:=0.0 \
    position_y:=0.0 \
    orientation_yaw:=0.0 \
    odometry_source:=world \
    world_file:=small_warehouse.sdf \
    robot_namespace:="bcr_bot"

Note: To use stereo_image_proc with the stereo images excute following command:

ros2 launch stereo_image_proc stereo_image_proc.launch.py left_namespace:=bcr_bot/stereo_camera/left right_namespace:=bcr_bot/stereo_camera/right

Humble + Fortress (Ubuntu 22.04)

Dependencies

In addition to ROS2 Humble and Gazebo Fortress installations, we need to manually install interfaces between ROS2 and Gazebo sim as follows,

sudo apt-get install ros-humble-ros-gz-sim ros-humble-ros-gz-bridge ros-humble-ros-gz-interfaces 

Remainder of the dependencies can be installed with rosdep

# From the root directory of the workspace. This will install everything mentioned in package.xml
rosdep install --from-paths src --ignore-src -r -y

Build

colcon build --packages-select bcr_bot

Run

To launch the robot in Gazebo,

ros2 launch bcr_bot gz.launch.py

To view in rviz,

ros2 launch bcr_bot rviz.launch.py

Configuration

The launch file accepts multiple launch arguments,

ros2 launch bcr_bot gz.launch.py \
    camera_enabled:=True \
    two_d_lidar_enabled:=True \
    position_x:=0.0 \
    position_y:=0.0  \
    orientation_yaw:=0.0 \
    world_file:=small_warehouse.sdf

Note: To use stereo_image_proc with the stereo images excute following command:

ros2 launch stereo_image_proc stereo_image_proc.launch.py left_namespace:=bcr_bot/stereo_camera/left right_namespace:=bcr_bot/stereo_camera/right

Simulation and Visualization

  1. Gz Sim (Ignition Gazebo) (small_warehouse World):

  2. Rviz (Depth camera) (small_warehouse World):

CONTRIBUTING

No CONTRIBUTING.md found.