Developed in ROS Iron. Some features may not work in ROS iron.

Table of Content

Click to expand

• Table of Content
  • Dependencies
  • Installation
• 💻 Simulation
  • 💻 Description
  • 💻 Sim
  • 💻 SLAM
  • 💻 Navigation
    • 💻 Navigate outdoors with GPS
• 🤖 Real Robot
  • 🤖 Bringup
  • 🤖 SLAM
  • 🤖 Navigation
• TODO:

Dependencies

Install the aws warehouse in aws_ws and source it.

mkdir -p aws_ws/src
cd aws_ws/src/
git clone https://github.com/JosefGst/aws-robomaker-small-warehouse-world.git -b ros2
cd aws_ws
# build for ROS
rosdep install --from-paths . --ignore-src -r -y
colcon build

# run in ROS
source install/setup.sh
roslaunch aws_robomaker_small_warehouse_world view_small_warehouse.launch

Installation

sudo apt install libboost-all-dev
mkdir ros2/lingao_ws/src -p
cd ros2/lingao_ros2/src
git clone https://github.com/JosefGst/lingao_ros2.git
sudo apt install python3-vcstool
vcs import .. < my.repos
cd ~/ros2/lingao_ws
rosdep update && rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y

and build the workspace.

💻 Simulation

💻 Description

ros2 launch urdf_launch display.launch.py urdf_package:=lingao_description urdf_package_path:=urdf/MiniUGV_10A.xacro

💻 Sim

ros2 launch lingao_sim sim_launch.py gui:=false

💻 SLAM

ros2 launch lingao_slam slam_launch.py use_sim_time:=true open_rviz:=true

for localization only

ros2 launch lingao_slam slam_launch.py slam_params_file:=src/lingao_ros2/lingao_slam/config/localizer_params_online_async.yaml use_sim_time:=true

💻 Navigation

ros2 launch lingao_nav lingao_nav_launch.py use_sim_time:=true open_rviz:=true

💻 Navigate outdoors with GPS

ros2 launch lingao_sim emptyfarm_launch.py headless:=False

ros2 launch lingao_bringup mapviz.launch.py 
ros2 launch lingao_nav gps_waypoint_follower.launch.py
ros2 run nav2_gps_waypoint_follower_demo interactive_waypoint_follower
ros2 run nav2_gps_waypoint_follower_demo gps_waypoint_logger
ros2 run nav2_gps_waypoint_follower_demo logged_waypoint_follower </path/to/yaml/file.yaml>

🤖 Real Robot

🤖 Bringup

ros2 launch lingao_bringup bringup_launch.py

🤖 SLAM

ros2 launch lingao_slam slam_launch.py

💻

ros2 run rviz2 rviz2 -d ros2/lingao_ws/src/lingao_ros2/lingao_slam/config/slam.rviz

🤖 Navigation

ros2 launch lingao_nav lingao_nav_launch.py slam_params_file:=src/lingao_ros2/lingao_slam/config/localizer_params_online_async_home.yaml 

💻

ros2 run rviz2 rviz2 -d ros2/lingao_ws/src/lingao_ros2/lingao_nav/config/nav.rviz 

or open Foxglove web https://studio.foxglove.dev/josef-gstoettner/view

TODO:

• set init pose with SLAM Toolbox
• use in bringup
• use GPS
• enable Collision Monitor
• Dockerize
• generally improve performance