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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 2022-11-22
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

Name Version
roverrobotics_driver 0.2.0
roverrobotics_input_manager 0.1.1

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/RoverRobotics/roverrobotics_ros2.git
  1. Install Udev rules for robot
cd workspace/src/roverrobotics_driver/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.