Level Up Your Mobile Robots. Rexroth ROKIT Locator – Your Easy-to-Use Laser Localization Software

locator_ros_bridge

This repository contains the bosch_locator_bridge package, which provides a [ROS] interface to the [Rexroth ROKIT Locator]. It translates ROS messages to the ROKIT Locator API (as described in the ROKIT Locator API documentation) and vice versa. It also allows to control the ROKIT Locator via ROS service calls.

There are versions for the following ROS 1 and ROS 2 distributions: * ROS 1: Noetic (branch noetic, will likely also work on Melodic) * ROS 2: Humble (this branch)

The repository also contains the bosch_locator_bridge_utils package, which provides an interface between the bosch_locator_bridge and [Nav2], the navigation stack of ROS 2.

The following video (click on image) gives more information about the ROKIT Locator.

Installation

Installing from Debian Package

You can install the bosch_locator_bridge package directly:

sudo apt install ros-humble-bosch-locator-bridge

Note that the installed package may contain an older software version, which corresponds to the latest tag 2.1.x here: [tags]. Since the release of a package can take a while, the installed package may even be from an earlier tag. To be sure, check the version of the installed package as follows:

apt show ros-humble-bosch-locator-bridge

Building from Source

Dependencies

• [ROS]
• [Poco] C++ library (Should be installed automatically with rosdep, otherwise try: sudo apt install libpoco-dev )

Building

To build from source, make sure your colcon workspace is set up correctly. Then clone the latest version of this branch from the repository into your colcon workspace and compile the package using

cd colcon_ws
rosdep install --from-paths . --ignore-src
colcon build --symlink-install

How to Get Started

To get started, take a look at the README.md of the bosch_locator_bridge package. And for the bosch_locator_bridge_utils package, please have a look at README.md.

License

locator_ros_bridge is open-sourced under the Apache-2.0 license. See the LICENSE file for details.

[Nav2]: https://navigation.ros.org/ [ROS]: https://www.ros.org/ [Poco]: https://pocoproject.org/ [Rexroth ROKIT Locator]: https://www.boschrexroth.com/en/xc/products/product-groups/components-for-mobile-robotics/index [tags]: https://github.com/boschglobal/locator_ros_bridge/tags

Contributing

Want to contribute? Great! You can do so through the standard GitHub pull request model. For large contributions we do encourage you to file a ticket in the GitHub issues tracking system prior to any code development to coordinate with the locator_ros_bridge development team early in the process. Coordinating up front helps to avoid frustration later on.

Your contribution must be licensed under the Apache-2.0 license, the license used by this project.

Add / retain copyright notices

Include a copyright notice and license in each new file to be contributed, consistent with the style used by this project. If your contribution contains code under the copyright of a third party, document its origin, license, and copyright holders.

Sign your work

This project tracks patch provenance and licensing using the Developer Certificate of Origin 1.1 (DCO) from developercertificate.org and Signed-off-by tags initially developed by the Linux kernel project.

Developer Certificate of Origin
Version 1.1

Copyright (C) 2004, 2006 The Linux Foundation and its contributors.
1 Letterman Drive
Suite D4700
San Francisco, CA, 94129

Everyone is permitted to copy and distribute verbatim copies of this
license document, but changing it is not allowed.


Developer's Certificate of Origin 1.1

By making a contribution to this project, I certify that:

(a) The contribution was created in whole or in part by me and I
    have the right to submit it under the open source license
    indicated in the file; or

(b) The contribution is based upon previous work that, to the best
    of my knowledge, is covered under an appropriate open source
    license and I have the right under that license to submit that
    work with modifications, whether created in whole or in part
    by me, under the same open source license (unless I am
    permitted to submit under a different license), as indicated
    in the file; or

(c) The contribution was provided directly to me by some other
    person who certified (a), (b) or (c) and I have not modified
    it.

(d) I understand and agree that this project and the contribution
    are public and that a record of the contribution (including all
    personal information I submit with it, including my sign-off) is
    maintained indefinitely and may be redistributed consistent with
    this project or the open source license(s) involved.

With the sign-off in a commit message you certify that you authored the patch or otherwise have the right to submit it under an open source license. The procedure is simple: To certify above Developer's Certificate of Origin 1.1 for your contribution just append a line

Signed-off-by: Random J Developer <random@developer.example.org>

to every commit message using your real name or your pseudonym and a valid email address.

If you have set your user.name and user.email git configs you can automatically sign the commit by running the git-commit command with the -s option. There may be multiple sign-offs if more than one developer was involved in authoring the contribution.

For a more detailed description of this procedure, please see SubmittingPatches which was extracted from the Linux kernel project, and which is stored in an external repository.

Individual vs. Corporate Contributors

Often employers or academic institution have ownership over code that is written in certain circumstances, so please do due diligence to ensure that you have the right to submit the code.

If you are a developer who is authorized to contribute to locator_ros_bridge on behalf of your employer, then please use your corporate email address in the Signed-off-by tag. Otherwise please use a personal email address.

Maintain Copyright holder / Contributor list

Each contributor is responsible for identifying themselves in the NOTICE file, the project's list of copyright holders and authors. Please add the respective information corresponding to the Signed-off-by tag as part of your first pull request.

If you are a developer who is authorized to contribute to locator_ros_bridge on behalf of your employer, then add your company / organization to the list of copyright holders in the NOTICE file. As author of a corporate contribution you can also add your name and corporate email address as in the Signed-off-by tag.

If your contribution is covered by this project's DCO's clause "(c) The contribution was provided directly to me by some other person who certified (a) or (b) and I have not modified it", please add the appropriate copyright holder(s) to the NOTICE file as part of your contribution.