NeuronBot2 in ROS 2

Introduction

NeuronBot2 is the newest version of NeuronBot made by Adlink, which fully supports ROS 1 and ROS 2.

Features

• Nice
• Good
• Awesome
• Wonderful
• Magnificent
• Impressive
• Intimidating
• Stunning
• Extraordinary
• Superb

This package includes the functions to bring up the robot, to make it SLAM, to navigate, and to simulate it with your own computer, testing the same functions mentioned before.

Users are able to checkout to different branches of this package to run on ROS 1 and ROS 2, please check different branches.

Installation

1. Install ROS 2
2. Install ROS 2 development tools

    sudo apt update && sudo apt install -y \
      build-essential \
      cmake \
      git \
      libbullet-dev \
      python3-colcon-common-extensions \
      python3-flake8 \
      python3-pip \
      python3-pytest-cov \
      python3-rosdep \
      python3-setuptools \
      python3-vcstool \
      openssh-server \
      wget
    

1. Git clone NeuronBot2 and other related sources

    mkdir -p ~/neuronbot2_ros2_ws/src
    cd ~/neuronbot2_ros2_ws/
    wget https://raw.githubusercontent.com/Adlink-ROS/neuronbot2_ros2.repos/humble/neuronbot2_ros2.repos
    vcs import src < neuronbot2_ros2.repos
    

1. Install other dependencies

   cd ~/neuronbot2_ros2_ws/
   source /opt/ros/humble/setup.bash
   rosdep update
   rosdep install --from-paths src --ignore-src -r -y --rosdistro humble
   

1. Initialze NeuronBot2 ttyUSB nodes, neuronbot_init.sh is needed to be run only once for the first setup. If you use NeuronBot2 for simulation only, not for the real robot, then you can skip this step.

   cd ~/neuronbot2_ros2_ws/src/neuronbot2/neuronbot2_tools/neuronbot2_init/
   sudo ./neuronbot2_init.sh
   

1. Colcon build the package

   cd ~/neuronbot2_ros2_ws/
   source /opt/ros/humble/setup.bash
   colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
   source ~/neuronbot2_ros2_ws/install/local_setup.bash
   

Bring up your NeuronBot2

Now, it’s time to launch your NeuronBot2 and do a Robotic-Hello-World thing – teleop it.

If you are looking for the NeuronBot2 simulation, please jump to Bring up in Simulation.

Launch NeuronBot2

Open a new terminal (Ctrl + Alt + t).

   source /opt/ros/humble/setup.bash
   source ~/neuronbot2_ros2_ws/install/local_setup.bash
   ros2 launch neuronbot2_bringup bringup_launch.py
   

Teleop NeuronBot2

   source /opt/ros/humble/setup.bash
   ros2 run teleop_twist_keyboard teleop_twist_keyboard
   

Follow the hints and start to cruise your NeuronBot2.

SLAM your map

1. Launch SLAM as well as Rviz.

File truncated at 100 lines see the full file