Approach motion of RB1 v.Parameters

servicio.mp4

Mandatory

• Start the simulation in ROS1

source ~/simulation_ws/devel/setup.bash
roslaunch rb1_base_gazebo warehouse_rb1.launch

• Start the ROS1 bridge

source ~/catkin_ws/devel/setup.bash
roslaunch load_params load_params_base.launch
source /opt/ros/galactic/setup.bash
ros2 run ros1_bridge parameter_bridge

Launch files

• Pre approach

ros2 launch attach_shelf pre_approach.launch.xml obstacle:=0.3 degrees:=-90

• Pre approach and final approach

ros2 launch attach_shelf attach_to_shelf.launch.py obstacle:=0.3 degrees:=-90 final_approach:=true

• Move the robot

ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args --remap cmd_vel:=/robot/cmd_vel