roverrobotics_ros2 repository

Repository Summary

Checkout URI https://github.com/RoverRobotics/roverrobotics_ros2.git
VCS Type git
VCS Version ros2-humble-driver-dev
Last Updated 2022-07-28
Dev Status DEVELOPED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

README

roverrobotics_ros2

About:

  • This is a ROS2 wrapper to interface with roverrobotics' robots.
  • Librover is required in order to use this wrapper
  • This is being used for the development of the rover robotics mini on ros2

Installation instructions

  1. Cloning this repository into your workspace
cd workspace/src/
git clone https://github.com/jackarivera/roverrobotics_mini_ros2 

  1. Install Udev rules for robot
cd workspace/src/roverrobotics_mini_ros2/udev
sudo cp 55-roverrobotics.rules /etc/udev/rules.d/55-roverrobotics.rules && sudo udevadm control --reload-rules && udevadm trigger

  1. Install shared library
cd ~/
mkdir library/
cd library/
git clone https://github.com/RoverRobotics/librover
cd librover/
cmake .
make
sudo make install 

  1. Rebuild your workspace
cd workspace/
colcon build

  1. Update env variables and configuration files
source install/setup.sh

  1. Launch Robot (replace with your robot config.)
ros2 launch roverrobotics_driver <launch file name>

  Launch Files:
  <model>.launch.py: Launches robot configuration for specific rover robot. (i.e. Mini, Mega, Pro2, Zero2)
  <model>_teleop.launch.py: Launches robot configuration with teleop controller enabled.
  rover_slam_mapping.launch.py: Launches lidar and slam toolbox in asynchronous mapping mode(Requires slam package).
  rover_slam_localization.launch.py: Launches lidar and slam toolbox in localization mapping mode.

CONTRIBUTING

No CONTRIBUTING.md found.