- follow the tutorial : https://docs.ros.org/en/foxy/Installation/Ubuntu-Install-Debians.html
- install also the following dependencies:
sudo apt update && sudo apt install -y \
build-essential \
cmake \
git \
libbullet-dev \
python3-colcon-common-extensions \
python3-flake8 \
python3-pip \
python3-pytest-cov \
python3-rosdep \
python3-setuptools \
python3-vcstool \
wget
python3 -m pip install -U \
argcomplete \
flake8-blind-except \
flake8-builtins \
flake8-class-newline \
flake8-comprehensions \
flake8-deprecated \
flake8-docstrings \
flake8-import-order \
flake8-quotes \
pytest-repeat \
pytest-rerunfailures \
pytest
sudo apt install --no-install-recommends -y \
libasio-dev \
libtinyxml2-dev
sudo apt install --no-install-recommends -y \
libcunit1-dev
-
clone this pkgs into your ros 2 workspace
-
Copy the folder meshes in orthopillar_robot_spawner_pkg/model/orto_meshes into a new folder called orthopillar to be placed in /.gazebo/models
-
Put in ./gazebo/models/orthopillar also the file.config that you can find in orthopillar_robot_spawner_pkg/model/orthopillar
-
install:
pip3 install xacro sudo apt install ros-foxy-joint-state-publisher-gui -
colcon build at the root of the workspace
-
run the command: ros2 launch orthopillar_robot_spawner_pkg gazebo_world.launch.py (spawn the model in gazebo).
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in another shell: ros2 launch orthopillar_robot_controller_pkg controller_estimator.launch.py (make the robot move using odometry and lidar).
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in another shell type < rviz2 > and load the configuration or create a new one.
-
install
sudo apt install ros-foxy-navigation2 ros-foxy-nav2-bringup cd /ros2_slam colcon build -
Source the workspace:
. install/local_setup.bash- launch the ortopillar simulation:
ros2 launch orthopillar_robot_spawner_pkg gazebo_world.launch.pyIn Rviz, correct the path of the robotModel by opening the model.urdf file.
- In another sourced terminal launch the navigation node:
ros2 launch nav2_bringup navigation_launch.py- In the final terminal (sourced) launch the slam:
ros2 launch slam_toolbox online_async_launch.py- In Rviz you should be able to add the cost_map (local and global), the path ....
- Finally in another terminal you can give a goal position to the robot using the nav2 action server:
ros2 topic pub /goal_pose geometry_msgs/PoseStamped "{header: {stamp: {sec: 0}, frame_id: 'map'}, pose: {position: {x: 0.2, y: 0.0, z: 0.0}, orientation: {w: 1.0}}}"