ROS Index
No version for distro humble. Known supported distros are highlighted in the buttons above.
No version for distro jazzy. Known supported distros are highlighted in the buttons above.
No version for distro kilted. Known supported distros are highlighted in the buttons above.
No version for distro rolling. Known supported distros are highlighted in the buttons above.
Repository Summary
| Description | |
| Checkout URI | https://github.com/waveshareteam/ugv_ws.git |
| VCS Type | git |
| VCS Version | ros2-humble-develop |
| Last Updated | 2025-02-25 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| apriltag | 3.4.2 |
| apriltag_msgs | 0.0.0 |
| apriltag_ros | 2.1.0 |
| cartographer | 0.0.0 |
| costmap_converter | 0.1.2 |
| costmap_converter_msgs | 0.1.2 |
| emcl2 | 0.0.0 |
| explore_lite | 1.0.0 |
| openslam_gmapping | 0.1.2 |
| slam_gmapping | 0.0.0 |
| ldlidar | 3.0.0 |
| rf2o_laser_odometry | 0.1.0 |
| robot_pose_publisher | 0.0.0 |
| teb_local_planner | 0.9.1 |
| teb_msgs | 0.0.1 |
| vizanti | 0.1.0 |
| vizanti_cpp | 0.0.1 |
| vizanti_demos | 0.0.2 |
| vizanti_msgs | 0.1.0 |
| vizanti_server | 0.1.1 |
| ugv_base_node | 0.0.0 |
| ugv_bringup | 0.0.0 |
| ugv_chat_ai | 0.0.0 |
| ugv_description | 1.0.0 |
| ugv_gazebo | 1.0.0 |
| ugv_interface | 0.0.0 |
| ugv_nav | 0.0.0 |
| ugv_slam | 0.0.0 |
| ugv_tools | 0.0.0 |
| ugv_vision | 0.0.0 |
| ugv_web_app | 0.0.0 |
README
ugv_ws Workspace Description (Stable)
1.Environment
- pc software：VMware Workstation 17Pro、mobarxterm
- ugv Version：UGV ROVER、UGV BEAST
2.Architecture
- project：https://github.com/DUDULRX/ugv_ws/tree/ros2-humble
git clone -b ros2-humble-develop https://github.com/DUDULRX/ugv_ws.git
- First compilation on the virtual machine (compiling one by one on the pi or jetson)
cd /home/ws/ugv_ws
. build_first.sh
build_first.sh content
cd /home/ws/ugv_ws
colcon build --packages-select apriltag apriltag_msgs apriltag_ros cartographer costmap_converter_msgs costmap_converter emcl2 explore_lite openslam_gmapping slam_gmapping ldlidar rf2o_laser_odometry robot_pose_publisher teb_msgs teb_local_planner vizanti vizanti_cpp vizanti_demos vizanti_msgs vizanti_server ugv_base_node ugv_interface
colcon build --packages-select ugv_bringup ugv_chat_ai ugv_description ugv_gazebo ugv_nav ugv_slam ugv_tools ugv_vision ugv_web_app --symlink-install
echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc
echo "eval "$(register-python-argcomplete ros2)"" >> ~/.bashrc
echo "eval "$(register-python-argcomplete colcon)"" >> ~/.bashrc
echo "source /home/ws/ugv_ws/install/setup.bash" >> ~/.bashrc
source ~/.bashrc
- Daily compilation of virtual machines (one by one on the car)
cd /home/ws/ugv_ws
. build_common.sh
build_common.sh content
cd /home/ws/ugv_ws
colcon build --packages-select apriltag apriltag_msgs apriltag_ros cartographer costmap_converter_msgs costmap_converter emcl2 explore_lite openslam_gmapping slam_gmapping ldlidar rf2o_laser_odometry robot_pose_publisher teb_msgs teb_local_planner vizanti vizanti_cpp vizanti_demos vizanti_msgs vizanti_server ugv_base_node ugv_interface
colcon build --packages-select ugv_bringup ugv_chat_ai ugv_description ugv_gazebo ugv_nav ugv_slam ugv_tools ugv_vision ugv_web_app --symlink-install
source install/setup.bash
- Compile apriltag
cd /home/ws/ugv_ws
. build_apriltag.sh
build_apriltag.sh content
cd /home/ws/ugv_ws/src/ugv_else/apriltag_ros/apriltag
cmake -B build -DCMAKE_BUILD_TYPE=Release
cmake --build build --target install
cd /home/ws/ugv_ws
-
Ubuntu software：
Install according to wiki install ros2 humble
apt-get update
apt-get upgrade
apt install python3-pip
apt-get install alsa-utils
apt install python3-colcon-argcomplete
apt install ros-humble-cartographer-*
apt install ros-humble-desktop-*
apt install ros-humble-joint-state-publisher-*
apt install ros-humble-nav2-*
apt install ros-humble-rosbridge-*
apt install ros-humble-rqt-*
apt install ros-humble-rtabmap-*
apt install ros-humble-usb-cam
apt install ros-humble-depthai-*
#Simulation virtual machine installation
apt install gazebo
apt install ros-humble-gazebo-*
-
Python3 Library：
domestic
```jsx cd ~/ugv_ws
File truncated at 100 lines see the full file
CONTRIBUTING
No version for distro galactic. Known supported distros are highlighted in the buttons above.
No version for distro iron. Known supported distros are highlighted in the buttons above.
No version for distro melodic. Known supported distros are highlighted in the buttons above.
No version for distro noetic. Known supported distros are highlighted in the buttons above.