Platform hardware for autonomous robot.
- Purpose
- Design Data (Under Constructing)
- This project is derived from orne_navigation.
- orne-x (designed in 2017)
ros2_ws/src で以下を実行します。
git clone https://github.com/open-rdc/orne-box.git -b humble-devel
wstool は 必ず src 直下(例: ~/ros2_ws/src)で実行 してください。
cd ~/ros2_ws/src
wstool init wstool merge orne-box/orne_box3_simulation_pkgs.install wstool up
wstool init
wstool merge orne-box/orne_box3_simulation_pkgs.install # TODO: 実機向け install ファイルは後日追記
wstool upsudo apt install -y \ libpcap-dev \ ros-$ROS_DISTRO-navigation2 \ ros-$ROS_DISTRO-nav2-bringup \ ros-$ROS_DISTRO-turtlebot3-gazebo \ ros-$ROS_DISTRO-robot-localization \ ros-$ROS_DISTRO-pointcloud-to-laserscan \ ros-$ROS_DISTRO-xacro \ ros-$ROS_DISTRO-joint-state-publisher \ ros-$ROS_DISTRO-laser-filters
以下のどちらかを選択して起動してください。
A. gazebo Classicで起動する場合:
ros2 launch orne_box_simulation box_cit3f.launch.py
B. Ignition gazeboで起動する場合:
ros2 launch orne_box_simulation ign_box_cit3f.launch.py
ros2 launch orne_box_navigation_executor play_waypoints_nav.launch.py
ros2 launch orne_box_bringup orne_box_bringup.launch.py
ros2 launch orne_box_navigation_executor play_waypoints_nav.launch.py
IMU calibration は後日追記予定です。