ROS adapter for the EPFL Ranger robot

This ROS package provides:

• a set of launch files suitable to create maps or drive around the robot (assuming a 3D depth sensor)
• a node (ros_interface) that expose standard ROS topics for the robot (odometry as odom and the TF transformation for base_link)

Dependencies

• ranger_description
• pyranger

• ROS 2D SLAM and navigation tools (gmapping, amcl, move_base...)

Technical checks

• Checking the odometry is ok: run rqt_plot + Ranger's teleop, plot /cmd_vel/linear/x, /cmd_vel/angular/z, /odom/twist/linear/x and /odom/twist/linear/z and check everyone match.