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marathon_ros2 repository

marathon_log_nodes marathon_ros2_bringup marathon_ros2_csv marathon_ros2_wp_manager

ROS Distro
github

Repository Summary

Description
Checkout URI https://github.com/intelligentroboticslabs/marathon_ros2.git
VCS Type git
VCS Version master
Last Updated 2023-11-07
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
marathon_log_nodes 0.0.1
marathon_ros2_bringup 0.0.0
marathon_ros2_csv 0.0.1
marathon_ros2_wp_manager 0.0.0

README

marathon_ros2

Working components for the experiment

  • Tiago drivers in ROS
  • ros1_bridge
  • cmd_vel_mux and tf_static_resender to correctly bridge all the required topics and tf ROS <-> ROS2
  • Navigation2
  • STVL
  • TEB
  • Adjust/optimize speeds and other parameters for Tiago
  • Tool to monitorize experiment (distance and time)
  • ROSbag configuration
  • Launcher to launch experiment complete

Instructions to reproduce this experiment

  1. Create a new workspace with the ROS2 sources. Follow this instructions of the ROS2 wiki. Before compile the workspace, change the ros1_bridge for this version.
    • Is important to compile this workspace, compile first without the ros1_bridge:
        colcon build --symlink-install --packages-skip ros1_bridge
        

- If the compilation conclude and everything is OK do:

        source /opt/ros/melodic/setup.bash
        colcon build --symlink-install --packages-select ros1_bridge --cmake-force-configure
  1. Create other workspace with the marathon_ros2 and the dependencies.
    vcs import src < marathon.repos
  1. When the two workspaces are compiled you can start with the marathon…
  2. Open 6 differents terminals and run:
    # Terminal 1
    source ~/ros2_sources_ws/install/setup.bash
    source /opt/ros/melodic/setup.bash
    ros2 run ros1_bridge tf_static_1_to_2
    

    # Terminal 2
    source ~/ros2_sources_ws/install/setup.bash
    source /opt/ros/melodic/setup.bash
    ros2 run ros1_bridge imu_1_to_2
    

    # Terminal 3
    source ~/ros2_sources_ws/install/setup.bash
    source /opt/ros/melodic/setup.bash
    ros2 run ros1_bridge scan_1_to_2
    

    # Terminal 4
    source ~/ros2_sources_ws/install/setup.bash
    source /opt/ros/melodic/setup.bash
    ros2 run ros1_bridge tf_1_to_2
    

    # Terminal 5
    source ~/ros2_sources_ws/install/setup.bash
    source /opt/ros/melodic/setup.bash
    ros2 run ros1_bridge pc2_1_to_2 
    

    # Terminal 6
    source ~/ros2_sources_ws/install/setup.bash
    source /opt/ros/melodic/setup.bash
    ros2 run ros1_bridge twist_2_to_1
  1. Open two more terminals and run:
    # Terminal 7
    source ~/ros2_sources_ws/install/setup.bash
    source ~/ros2_ws/install/setup.bash
    ros2 launch marathon_ros2_bringup nav2_tiago_launch.py
    

    # Terminal 8
    source ~/ros2_sources_ws/install/setup.bash
    source ~/ros2_ws/install/setup.bash
    ros2 topic pub /start_navigate std_msgs/msg/Empty {}

CONTRIBUTING

No version for distro jazzy showing github. Known supported distros are highlighted in the buttons above.
Repo symbol

marathon_ros2 repository

marathon_log_nodes marathon_ros2_bringup marathon_ros2_csv marathon_ros2_wp_manager

ROS Distro
github

Repository Summary

Description
Checkout URI https://github.com/intelligentroboticslabs/marathon_ros2.git
VCS Type git
VCS Version master
Last Updated 2023-11-07
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
marathon_log_nodes 0.0.1
marathon_ros2_bringup 0.0.0
marathon_ros2_csv 0.0.1
marathon_ros2_wp_manager 0.0.0

README

marathon_ros2

Working components for the experiment

  • Tiago drivers in ROS
  • ros1_bridge
  • cmd_vel_mux and tf_static_resender to correctly bridge all the required topics and tf ROS <-> ROS2
  • Navigation2
  • STVL
  • TEB
  • Adjust/optimize speeds and other parameters for Tiago
  • Tool to monitorize experiment (distance and time)
  • ROSbag configuration
  • Launcher to launch experiment complete

Instructions to reproduce this experiment

  1. Create a new workspace with the ROS2 sources. Follow this instructions of the ROS2 wiki. Before compile the workspace, change the ros1_bridge for this version.
    • Is important to compile this workspace, compile first without the ros1_bridge:
        colcon build --symlink-install --packages-skip ros1_bridge
        

- If the compilation conclude and everything is OK do:

        source /opt/ros/melodic/setup.bash
        colcon build --symlink-install --packages-select ros1_bridge --cmake-force-configure
  1. Create other workspace with the marathon_ros2 and the dependencies.
    vcs import src < marathon.repos
  1. When the two workspaces are compiled you can start with the marathon…
  2. Open 6 differents terminals and run:
    # Terminal 1
    source ~/ros2_sources_ws/install/setup.bash
    source /opt/ros/melodic/setup.bash
    ros2 run ros1_bridge tf_static_1_to_2
    

    # Terminal 2
    source ~/ros2_sources_ws/install/setup.bash
    source /opt/ros/melodic/setup.bash
    ros2 run ros1_bridge imu_1_to_2
    

    # Terminal 3
    source ~/ros2_sources_ws/install/setup.bash
    source /opt/ros/melodic/setup.bash
    ros2 run ros1_bridge scan_1_to_2
    

    # Terminal 4
    source ~/ros2_sources_ws/install/setup.bash
    source /opt/ros/melodic/setup.bash
    ros2 run ros1_bridge tf_1_to_2
    

    # Terminal 5
    source ~/ros2_sources_ws/install/setup.bash
    source /opt/ros/melodic/setup.bash
    ros2 run ros1_bridge pc2_1_to_2 
    

    # Terminal 6
    source ~/ros2_sources_ws/install/setup.bash
    source /opt/ros/melodic/setup.bash
    ros2 run ros1_bridge twist_2_to_1
  1. Open two more terminals and run:
    # Terminal 7
    source ~/ros2_sources_ws/install/setup.bash
    source ~/ros2_ws/install/setup.bash
    ros2 launch marathon_ros2_bringup nav2_tiago_launch.py
    

    # Terminal 8
    source ~/ros2_sources_ws/install/setup.bash
    source ~/ros2_ws/install/setup.bash
    ros2 topic pub /start_navigate std_msgs/msg/Empty {}

CONTRIBUTING

No version for distro kilted showing github. Known supported distros are highlighted in the buttons above.
Repo symbol

marathon_ros2 repository

marathon_log_nodes marathon_ros2_bringup marathon_ros2_csv marathon_ros2_wp_manager

ROS Distro
github

Repository Summary

Description
Checkout URI https://github.com/intelligentroboticslabs/marathon_ros2.git
VCS Type git
VCS Version master
Last Updated 2023-11-07
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
marathon_log_nodes 0.0.1
marathon_ros2_bringup 0.0.0
marathon_ros2_csv 0.0.1
marathon_ros2_wp_manager 0.0.0

README

marathon_ros2

Working components for the experiment

  • Tiago drivers in ROS
  • ros1_bridge
  • cmd_vel_mux and tf_static_resender to correctly bridge all the required topics and tf ROS <-> ROS2
  • Navigation2
  • STVL
  • TEB
  • Adjust/optimize speeds and other parameters for Tiago
  • Tool to monitorize experiment (distance and time)
  • ROSbag configuration
  • Launcher to launch experiment complete

Instructions to reproduce this experiment

  1. Create a new workspace with the ROS2 sources. Follow this instructions of the ROS2 wiki. Before compile the workspace, change the ros1_bridge for this version.
    • Is important to compile this workspace, compile first without the ros1_bridge:
        colcon build --symlink-install --packages-skip ros1_bridge
        

- If the compilation conclude and everything is OK do:

        source /opt/ros/melodic/setup.bash
        colcon build --symlink-install --packages-select ros1_bridge --cmake-force-configure
  1. Create other workspace with the marathon_ros2 and the dependencies.
    vcs import src < marathon.repos
  1. When the two workspaces are compiled you can start with the marathon…
  2. Open 6 differents terminals and run:
    # Terminal 1
    source ~/ros2_sources_ws/install/setup.bash
    source /opt/ros/melodic/setup.bash
    ros2 run ros1_bridge tf_static_1_to_2
    

    # Terminal 2
    source ~/ros2_sources_ws/install/setup.bash
    source /opt/ros/melodic/setup.bash
    ros2 run ros1_bridge imu_1_to_2
    

    # Terminal 3
    source ~/ros2_sources_ws/install/setup.bash
    source /opt/ros/melodic/setup.bash
    ros2 run ros1_bridge scan_1_to_2
    

    # Terminal 4
    source ~/ros2_sources_ws/install/setup.bash
    source /opt/ros/melodic/setup.bash
    ros2 run ros1_bridge tf_1_to_2
    

    # Terminal 5
    source ~/ros2_sources_ws/install/setup.bash
    source /opt/ros/melodic/setup.bash
    ros2 run ros1_bridge pc2_1_to_2 
    

    # Terminal 6
    source ~/ros2_sources_ws/install/setup.bash
    source /opt/ros/melodic/setup.bash
    ros2 run ros1_bridge twist_2_to_1
  1. Open two more terminals and run:
    # Terminal 7
    source ~/ros2_sources_ws/install/setup.bash
    source ~/ros2_ws/install/setup.bash
    ros2 launch marathon_ros2_bringup nav2_tiago_launch.py
    

    # Terminal 8
    source ~/ros2_sources_ws/install/setup.bash
    source ~/ros2_ws/install/setup.bash
    ros2 topic pub /start_navigate std_msgs/msg/Empty {}

CONTRIBUTING

No version for distro rolling showing github. Known supported distros are highlighted in the buttons above.
Repo symbol

marathon_ros2 repository

marathon_log_nodes marathon_ros2_bringup marathon_ros2_csv marathon_ros2_wp_manager

ROS Distro
github

Repository Summary

Description
Checkout URI https://github.com/intelligentroboticslabs/marathon_ros2.git
VCS Type git
VCS Version master
Last Updated 2023-11-07
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
marathon_log_nodes 0.0.1
marathon_ros2_bringup 0.0.0
marathon_ros2_csv 0.0.1
marathon_ros2_wp_manager 0.0.0

README

marathon_ros2

Working components for the experiment

  • Tiago drivers in ROS
  • ros1_bridge
  • cmd_vel_mux and tf_static_resender to correctly bridge all the required topics and tf ROS <-> ROS2
  • Navigation2
  • STVL
  • TEB
  • Adjust/optimize speeds and other parameters for Tiago
  • Tool to monitorize experiment (distance and time)
  • ROSbag configuration
  • Launcher to launch experiment complete

Instructions to reproduce this experiment

  1. Create a new workspace with the ROS2 sources. Follow this instructions of the ROS2 wiki. Before compile the workspace, change the ros1_bridge for this version.
    • Is important to compile this workspace, compile first without the ros1_bridge:
        colcon build --symlink-install --packages-skip ros1_bridge
        

- If the compilation conclude and everything is OK do:

        source /opt/ros/melodic/setup.bash
        colcon build --symlink-install --packages-select ros1_bridge --cmake-force-configure
  1. Create other workspace with the marathon_ros2 and the dependencies.
    vcs import src < marathon.repos
  1. When the two workspaces are compiled you can start with the marathon…
  2. Open 6 differents terminals and run:
    # Terminal 1
    source ~/ros2_sources_ws/install/setup.bash
    source /opt/ros/melodic/setup.bash
    ros2 run ros1_bridge tf_static_1_to_2
    

    # Terminal 2
    source ~/ros2_sources_ws/install/setup.bash
    source /opt/ros/melodic/setup.bash
    ros2 run ros1_bridge imu_1_to_2
    

    # Terminal 3
    source ~/ros2_sources_ws/install/setup.bash
    source /opt/ros/melodic/setup.bash
    ros2 run ros1_bridge scan_1_to_2
    

    # Terminal 4
    source ~/ros2_sources_ws/install/setup.bash
    source /opt/ros/melodic/setup.bash
    ros2 run ros1_bridge tf_1_to_2
    

    # Terminal 5
    source ~/ros2_sources_ws/install/setup.bash
    source /opt/ros/melodic/setup.bash
    ros2 run ros1_bridge pc2_1_to_2 
    

    # Terminal 6
    source ~/ros2_sources_ws/install/setup.bash
    source /opt/ros/melodic/setup.bash
    ros2 run ros1_bridge twist_2_to_1
  1. Open two more terminals and run:
    # Terminal 7
    source ~/ros2_sources_ws/install/setup.bash
    source ~/ros2_ws/install/setup.bash
    ros2 launch marathon_ros2_bringup nav2_tiago_launch.py
    

    # Terminal 8
    source ~/ros2_sources_ws/install/setup.bash
    source ~/ros2_ws/install/setup.bash
    ros2 topic pub /start_navigate std_msgs/msg/Empty {}

CONTRIBUTING

Repo symbol

marathon_ros2 repository

marathon_log_nodes marathon_ros2_bringup marathon_ros2_csv marathon_ros2_wp_manager

ROS Distro
github

Repository Summary

Description
Checkout URI https://github.com/intelligentroboticslabs/marathon_ros2.git
VCS Type git
VCS Version master
Last Updated 2023-11-07
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
marathon_log_nodes 0.0.1
marathon_ros2_bringup 0.0.0
marathon_ros2_csv 0.0.1
marathon_ros2_wp_manager 0.0.0

README

marathon_ros2

Working components for the experiment

  • Tiago drivers in ROS
  • ros1_bridge
  • cmd_vel_mux and tf_static_resender to correctly bridge all the required topics and tf ROS <-> ROS2
  • Navigation2
  • STVL
  • TEB
  • Adjust/optimize speeds and other parameters for Tiago
  • Tool to monitorize experiment (distance and time)
  • ROSbag configuration
  • Launcher to launch experiment complete

Instructions to reproduce this experiment

  1. Create a new workspace with the ROS2 sources. Follow this instructions of the ROS2 wiki. Before compile the workspace, change the ros1_bridge for this version.
    • Is important to compile this workspace, compile first without the ros1_bridge:
        colcon build --symlink-install --packages-skip ros1_bridge
        

- If the compilation conclude and everything is OK do:

        source /opt/ros/melodic/setup.bash
        colcon build --symlink-install --packages-select ros1_bridge --cmake-force-configure
  1. Create other workspace with the marathon_ros2 and the dependencies.
    vcs import src < marathon.repos
  1. When the two workspaces are compiled you can start with the marathon…
  2. Open 6 differents terminals and run:
    # Terminal 1
    source ~/ros2_sources_ws/install/setup.bash
    source /opt/ros/melodic/setup.bash
    ros2 run ros1_bridge tf_static_1_to_2
    

    # Terminal 2
    source ~/ros2_sources_ws/install/setup.bash
    source /opt/ros/melodic/setup.bash
    ros2 run ros1_bridge imu_1_to_2
    

    # Terminal 3
    source ~/ros2_sources_ws/install/setup.bash
    source /opt/ros/melodic/setup.bash
    ros2 run ros1_bridge scan_1_to_2
    

    # Terminal 4
    source ~/ros2_sources_ws/install/setup.bash
    source /opt/ros/melodic/setup.bash
    ros2 run ros1_bridge tf_1_to_2
    

    # Terminal 5
    source ~/ros2_sources_ws/install/setup.bash
    source /opt/ros/melodic/setup.bash
    ros2 run ros1_bridge pc2_1_to_2 
    

    # Terminal 6
    source ~/ros2_sources_ws/install/setup.bash
    source /opt/ros/melodic/setup.bash
    ros2 run ros1_bridge twist_2_to_1
  1. Open two more terminals and run:
    # Terminal 7
    source ~/ros2_sources_ws/install/setup.bash
    source ~/ros2_ws/install/setup.bash
    ros2 launch marathon_ros2_bringup nav2_tiago_launch.py
    

    # Terminal 8
    source ~/ros2_sources_ws/install/setup.bash
    source ~/ros2_ws/install/setup.bash
    ros2 topic pub /start_navigate std_msgs/msg/Empty {}

CONTRIBUTING

No version for distro galactic showing github. Known supported distros are highlighted in the buttons above.
Repo symbol

marathon_ros2 repository

marathon_log_nodes marathon_ros2_bringup marathon_ros2_csv marathon_ros2_wp_manager

ROS Distro
github

Repository Summary

Description
Checkout URI https://github.com/intelligentroboticslabs/marathon_ros2.git
VCS Type git
VCS Version master
Last Updated 2023-11-07
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
marathon_log_nodes 0.0.1
marathon_ros2_bringup 0.0.0
marathon_ros2_csv 0.0.1
marathon_ros2_wp_manager 0.0.0

README

marathon_ros2

Working components for the experiment

  • Tiago drivers in ROS
  • ros1_bridge
  • cmd_vel_mux and tf_static_resender to correctly bridge all the required topics and tf ROS <-> ROS2
  • Navigation2
  • STVL
  • TEB
  • Adjust/optimize speeds and other parameters for Tiago
  • Tool to monitorize experiment (distance and time)
  • ROSbag configuration
  • Launcher to launch experiment complete

Instructions to reproduce this experiment

  1. Create a new workspace with the ROS2 sources. Follow this instructions of the ROS2 wiki. Before compile the workspace, change the ros1_bridge for this version.
    • Is important to compile this workspace, compile first without the ros1_bridge:
        colcon build --symlink-install --packages-skip ros1_bridge
        

- If the compilation conclude and everything is OK do:

        source /opt/ros/melodic/setup.bash
        colcon build --symlink-install --packages-select ros1_bridge --cmake-force-configure
  1. Create other workspace with the marathon_ros2 and the dependencies.
    vcs import src < marathon.repos
  1. When the two workspaces are compiled you can start with the marathon…
  2. Open 6 differents terminals and run:
    # Terminal 1
    source ~/ros2_sources_ws/install/setup.bash
    source /opt/ros/melodic/setup.bash
    ros2 run ros1_bridge tf_static_1_to_2
    

    # Terminal 2
    source ~/ros2_sources_ws/install/setup.bash
    source /opt/ros/melodic/setup.bash
    ros2 run ros1_bridge imu_1_to_2
    

    # Terminal 3
    source ~/ros2_sources_ws/install/setup.bash
    source /opt/ros/melodic/setup.bash
    ros2 run ros1_bridge scan_1_to_2
    

    # Terminal 4
    source ~/ros2_sources_ws/install/setup.bash
    source /opt/ros/melodic/setup.bash
    ros2 run ros1_bridge tf_1_to_2
    

    # Terminal 5
    source ~/ros2_sources_ws/install/setup.bash
    source /opt/ros/melodic/setup.bash
    ros2 run ros1_bridge pc2_1_to_2 
    

    # Terminal 6
    source ~/ros2_sources_ws/install/setup.bash
    source /opt/ros/melodic/setup.bash
    ros2 run ros1_bridge twist_2_to_1
  1. Open two more terminals and run:
    # Terminal 7
    source ~/ros2_sources_ws/install/setup.bash
    source ~/ros2_ws/install/setup.bash
    ros2 launch marathon_ros2_bringup nav2_tiago_launch.py
    

    # Terminal 8
    source ~/ros2_sources_ws/install/setup.bash
    source ~/ros2_ws/install/setup.bash
    ros2 topic pub /start_navigate std_msgs/msg/Empty {}

CONTRIBUTING

No version for distro iron showing github. Known supported distros are highlighted in the buttons above.
Repo symbol

marathon_ros2 repository

marathon_log_nodes marathon_ros2_bringup marathon_ros2_csv marathon_ros2_wp_manager

ROS Distro
github

Repository Summary

Description
Checkout URI https://github.com/intelligentroboticslabs/marathon_ros2.git
VCS Type git
VCS Version master
Last Updated 2023-11-07
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
marathon_log_nodes 0.0.1
marathon_ros2_bringup 0.0.0
marathon_ros2_csv 0.0.1
marathon_ros2_wp_manager 0.0.0

README

marathon_ros2

Working components for the experiment

  • Tiago drivers in ROS
  • ros1_bridge
  • cmd_vel_mux and tf_static_resender to correctly bridge all the required topics and tf ROS <-> ROS2
  • Navigation2
  • STVL
  • TEB
  • Adjust/optimize speeds and other parameters for Tiago
  • Tool to monitorize experiment (distance and time)
  • ROSbag configuration
  • Launcher to launch experiment complete

Instructions to reproduce this experiment

  1. Create a new workspace with the ROS2 sources. Follow this instructions of the ROS2 wiki. Before compile the workspace, change the ros1_bridge for this version.
    • Is important to compile this workspace, compile first without the ros1_bridge:
        colcon build --symlink-install --packages-skip ros1_bridge
        

- If the compilation conclude and everything is OK do:

        source /opt/ros/melodic/setup.bash
        colcon build --symlink-install --packages-select ros1_bridge --cmake-force-configure
  1. Create other workspace with the marathon_ros2 and the dependencies.
    vcs import src < marathon.repos
  1. When the two workspaces are compiled you can start with the marathon…
  2. Open 6 differents terminals and run:
    # Terminal 1
    source ~/ros2_sources_ws/install/setup.bash
    source /opt/ros/melodic/setup.bash
    ros2 run ros1_bridge tf_static_1_to_2
    

    # Terminal 2
    source ~/ros2_sources_ws/install/setup.bash
    source /opt/ros/melodic/setup.bash
    ros2 run ros1_bridge imu_1_to_2
    

    # Terminal 3
    source ~/ros2_sources_ws/install/setup.bash
    source /opt/ros/melodic/setup.bash
    ros2 run ros1_bridge scan_1_to_2
    

    # Terminal 4
    source ~/ros2_sources_ws/install/setup.bash
    source /opt/ros/melodic/setup.bash
    ros2 run ros1_bridge tf_1_to_2
    

    # Terminal 5
    source ~/ros2_sources_ws/install/setup.bash
    source /opt/ros/melodic/setup.bash
    ros2 run ros1_bridge pc2_1_to_2 
    

    # Terminal 6
    source ~/ros2_sources_ws/install/setup.bash
    source /opt/ros/melodic/setup.bash
    ros2 run ros1_bridge twist_2_to_1
  1. Open two more terminals and run:
    # Terminal 7
    source ~/ros2_sources_ws/install/setup.bash
    source ~/ros2_ws/install/setup.bash
    ros2 launch marathon_ros2_bringup nav2_tiago_launch.py
    

    # Terminal 8
    source ~/ros2_sources_ws/install/setup.bash
    source ~/ros2_ws/install/setup.bash
    ros2 topic pub /start_navigate std_msgs/msg/Empty {}

CONTRIBUTING

No version for distro melodic showing github. Known supported distros are highlighted in the buttons above.
Repo symbol

marathon_ros2 repository

marathon_log_nodes marathon_ros2_bringup marathon_ros2_csv marathon_ros2_wp_manager

ROS Distro
github

Repository Summary

Description
Checkout URI https://github.com/intelligentroboticslabs/marathon_ros2.git
VCS Type git
VCS Version master
Last Updated 2023-11-07
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
marathon_log_nodes 0.0.1
marathon_ros2_bringup 0.0.0
marathon_ros2_csv 0.0.1
marathon_ros2_wp_manager 0.0.0

README

marathon_ros2

Working components for the experiment

  • Tiago drivers in ROS
  • ros1_bridge
  • cmd_vel_mux and tf_static_resender to correctly bridge all the required topics and tf ROS <-> ROS2
  • Navigation2
  • STVL
  • TEB
  • Adjust/optimize speeds and other parameters for Tiago
  • Tool to monitorize experiment (distance and time)
  • ROSbag configuration
  • Launcher to launch experiment complete

Instructions to reproduce this experiment

  1. Create a new workspace with the ROS2 sources. Follow this instructions of the ROS2 wiki. Before compile the workspace, change the ros1_bridge for this version.
    • Is important to compile this workspace, compile first without the ros1_bridge:
        colcon build --symlink-install --packages-skip ros1_bridge
        

- If the compilation conclude and everything is OK do:

        source /opt/ros/melodic/setup.bash
        colcon build --symlink-install --packages-select ros1_bridge --cmake-force-configure
  1. Create other workspace with the marathon_ros2 and the dependencies.
    vcs import src < marathon.repos
  1. When the two workspaces are compiled you can start with the marathon…
  2. Open 6 differents terminals and run:
    # Terminal 1
    source ~/ros2_sources_ws/install/setup.bash
    source /opt/ros/melodic/setup.bash
    ros2 run ros1_bridge tf_static_1_to_2
    

    # Terminal 2
    source ~/ros2_sources_ws/install/setup.bash
    source /opt/ros/melodic/setup.bash
    ros2 run ros1_bridge imu_1_to_2
    

    # Terminal 3
    source ~/ros2_sources_ws/install/setup.bash
    source /opt/ros/melodic/setup.bash
    ros2 run ros1_bridge scan_1_to_2
    

    # Terminal 4
    source ~/ros2_sources_ws/install/setup.bash
    source /opt/ros/melodic/setup.bash
    ros2 run ros1_bridge tf_1_to_2
    

    # Terminal 5
    source ~/ros2_sources_ws/install/setup.bash
    source /opt/ros/melodic/setup.bash
    ros2 run ros1_bridge pc2_1_to_2 
    

    # Terminal 6
    source ~/ros2_sources_ws/install/setup.bash
    source /opt/ros/melodic/setup.bash
    ros2 run ros1_bridge twist_2_to_1
  1. Open two more terminals and run:
    # Terminal 7
    source ~/ros2_sources_ws/install/setup.bash
    source ~/ros2_ws/install/setup.bash
    ros2 launch marathon_ros2_bringup nav2_tiago_launch.py
    

    # Terminal 8
    source ~/ros2_sources_ws/install/setup.bash
    source ~/ros2_ws/install/setup.bash
    ros2 topic pub /start_navigate std_msgs/msg/Empty {}

CONTRIBUTING

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marathon_ros2 repository

marathon_log_nodes marathon_ros2_bringup marathon_ros2_csv marathon_ros2_wp_manager

ROS Distro
github

Repository Summary

Description
Checkout URI https://github.com/intelligentroboticslabs/marathon_ros2.git
VCS Type git
VCS Version master
Last Updated 2023-11-07
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
marathon_log_nodes 0.0.1
marathon_ros2_bringup 0.0.0
marathon_ros2_csv 0.0.1
marathon_ros2_wp_manager 0.0.0

README

marathon_ros2

Working components for the experiment

  • Tiago drivers in ROS
  • ros1_bridge
  • cmd_vel_mux and tf_static_resender to correctly bridge all the required topics and tf ROS <-> ROS2
  • Navigation2
  • STVL
  • TEB
  • Adjust/optimize speeds and other parameters for Tiago
  • Tool to monitorize experiment (distance and time)
  • ROSbag configuration
  • Launcher to launch experiment complete

Instructions to reproduce this experiment

  1. Create a new workspace with the ROS2 sources. Follow this instructions of the ROS2 wiki. Before compile the workspace, change the ros1_bridge for this version.
    • Is important to compile this workspace, compile first without the ros1_bridge:
        colcon build --symlink-install --packages-skip ros1_bridge
        

- If the compilation conclude and everything is OK do:

        source /opt/ros/melodic/setup.bash
        colcon build --symlink-install --packages-select ros1_bridge --cmake-force-configure
  1. Create other workspace with the marathon_ros2 and the dependencies.
    vcs import src < marathon.repos
  1. When the two workspaces are compiled you can start with the marathon…
  2. Open 6 differents terminals and run:
    # Terminal 1
    source ~/ros2_sources_ws/install/setup.bash
    source /opt/ros/melodic/setup.bash
    ros2 run ros1_bridge tf_static_1_to_2
    

    # Terminal 2
    source ~/ros2_sources_ws/install/setup.bash
    source /opt/ros/melodic/setup.bash
    ros2 run ros1_bridge imu_1_to_2
    

    # Terminal 3
    source ~/ros2_sources_ws/install/setup.bash
    source /opt/ros/melodic/setup.bash
    ros2 run ros1_bridge scan_1_to_2
    

    # Terminal 4
    source ~/ros2_sources_ws/install/setup.bash
    source /opt/ros/melodic/setup.bash
    ros2 run ros1_bridge tf_1_to_2
    

    # Terminal 5
    source ~/ros2_sources_ws/install/setup.bash
    source /opt/ros/melodic/setup.bash
    ros2 run ros1_bridge pc2_1_to_2 
    

    # Terminal 6
    source ~/ros2_sources_ws/install/setup.bash
    source /opt/ros/melodic/setup.bash
    ros2 run ros1_bridge twist_2_to_1
  1. Open two more terminals and run:
    # Terminal 7
    source ~/ros2_sources_ws/install/setup.bash
    source ~/ros2_ws/install/setup.bash
    ros2 launch marathon_ros2_bringup nav2_tiago_launch.py
    

    # Terminal 8
    source ~/ros2_sources_ws/install/setup.bash
    source ~/ros2_ws/install/setup.bash
    ros2 topic pub /start_navigate std_msgs/msg/Empty {}

CONTRIBUTING