Base Robot

This repositry contains ROS package for base mobile robot it includes:

base_discreption URDF configuration

base_navigation move_base launch and configuration files

base_robot

third_party_sensors LIADR Package

Preliminaries

If you haven't already installed ROS on your PC, you need to add the ROS apt repository. This step is necessary for either binary or source install.

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
sudo apt-get update -qq

Source install

For a source install, run the commands below:

Create a catkin workspace

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src/

Clone base-robot into the catkin workspace

git clone -b https://github.com/Sunspeed-Robotics/Base-Robot.git

Build all packages in the catkin workspace

source /opt/ros/kinetic/setup.bash
catkin_init_workspace
cd ~/catkin_ws
catkin_make -DCMAKE_BUILD_TYPE=RelWithDebugInfo

You should add the following line to the end of your ~/.bashrc, and then close and reopen all terminals:

source ~/catkin_ws/devel/setup.bash

ros2 control

launch the base driver

source /opt/ros/melodic/setup.bash
cd ~/catkine_ws/
source devel/setup.bash
roslaunch ir100_driver ir100_driver.launch

launch the LIDAR node

roslaunch sick_sim 

Teleop

./teleop.py

launch gmapping node

roslaunch ir100_navigation gmapping_node.launch

run the simulation rviz2

source /opt/ros/dashing/setup.bash
ros2 run rviz2 rviz2

run ros1_bridge node

In first shell you need to source ros1

source /opt/ros/melodic/setup.bash

In second shell source ros2

source /opt/ros/dashing/setup.bash

Run state_publisher.py node

ros2 launch ir100_discreption ir100_state_publish.py

Run ros1_bridge in third shell

ros2 run ros1_bridge dynamic_bridge