III-Robot-ROS2

Implement the mapping, navigation and positioning of a Mecanum wheel robot in Gazebo.

Installation

$ git clone --recursive https://github.com/yunke120/III-Robot-ROS2.git
$ cd III-Robot-ROS2
$ rosdep update
$ rosdep install --from-paths src --ignore-src --rosdistro humble -y
$ colcon build

Visualize the robot

In rviz2

$ ros2 launch bot_bringup rviz2.launch.py

In gazebo

$ ros2 launch bot_bringup gazebo_empty_world.launch.py

Use cartographer to build maps

shell1

$ ros2 launch bot_bringup gazebo_substation.launch.py

shell2

$ ros2 launch bot_cartographer bot_cartographer.launch.py

shell3

$ ros2 run bot_teleop teleop_twist_keyboard

Navigation in RVIZ2

shell1

$ ros2 launch bot_bringup gazebo_substation.launch.py

shell2

$ ros2 launch bot_navigation2 bot_navigation2.launch.py

Record path and publish path

start

Show Marker

shell1

$ ros2 launch bot_bag bot_ctrl_marker.launch.py

shell2

$ ros2 run bridge test_ctrl_marker

Bridge

ros2 communicates with microcontroller STM32

shell 1

$ ROS_DOMAIN_ID=0
$ colcon build --packages-select bridge
$ source install/setup.bash
$ ros2 run bridge bridge_demo_widget

shell 2

$ ROS_DOMAIN_ID=0
$ colcon build --packages-select micro_ros_setup
$ source install/setup.bash
$ sudo chmod a+rw /dev/ttyACM0
$ ros2 run micro_ros_agent micro_ros_agent serial -b 115200 --dev /dev/ttyACM0

Reference links

• Window SSH Linux
• Gazebo Materials
• qaz9517532846-zm_robot
• ROBOTIS-GIT-turtlebot3
• Navigation2