各パッケージの役割や利用関係をまとめたドキュメントは doc/README.md を参照してください。
UARTの起動
ros2 launch uart_control serial_subscriber.launch.py
ros2 launch uart_control serial_publisher.launch.py
RealSense起動
ros2 launch realsense2_camera rs_launch.py pointcloud.enable:=true publish_tf:=true
センサの起動
ros2 launch ares_sensor sensor_data_publisher.launch.py
コントローラの起動
ros2 launch rover_controller rover_controller.launch.py
LiDARの起動
ros2 launch livox_ros_driver2 msg_MID360_launch.py
ros2 run livox_to_pointcloud2 livox_to_pointcloud2_node --ros-args -r /livox_pointcloud:=/livox/lidar
ros2 launch ares_nav2 controller_bringup.launch.py
Nav2の起動
ros2 launch ares_nav2 navigation_sim.launch.py
Aruco goalへ近づくプログラムの起動
ros2 launch ares_nav2 aruco_nav2_goal.launch.py
waypointsへ移動
ros2 launch ares_nav2 main.launch.py