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rosbot_xl_ros repositorygazebo ros2 rosbot_xl rosbot_xl_bringup rosbot_xl_controller rosbot_xl_description rosbot_xl_gazebo rosbot_xl_utils |
Repository Summary
| Description | ROS 2 packages for ROSbot XL |
| Checkout URI | https://github.com/husarion/rosbot_xl_ros.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2024-07-18 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | gazebo ros2 |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| rosbot_xl | 0.11.5 |
| rosbot_xl_bringup | 0.11.5 |
| rosbot_xl_controller | 0.11.5 |
| rosbot_xl_description | 0.11.5 |
| rosbot_xl_gazebo | 0.11.5 |
| rosbot_xl_utils | 0.11.5 |
README
ROSbot XL ROS
ROS2 packages for ROSbot XL
ROS API
You can find ROS API and detailed package description in ROS_API.md.
Prepare environment
-
Install
ros-dev-toolsandstm32flash(stm32flashis not in the ros index and should be installed manually).
sudo apt-get update
sudo apt-get install -y ros-dev-tools stm32flash
- Create workspace folder and clone
rosbot_xl_rosrepository.
mkdir -p ros2_ws/src
cd ros2_ws
git clone https://github.com/husarion/rosbot_xl_ros src/
Build and run on hardware
- Build the package
export HUSARION_ROS_BUILD=hardware
source /opt/ros/$ROS_DISTRO/setup.bash
vcs import src < src/rosbot_xl/rosbot_xl_hardware.repos
rm -r src/rosbot_xl_gazebo
# Copy only diff_drive_controller and imu_sensor_broadcaster, waits for features from ros2-control
cp -r src/ros2_controllers/diff_drive_controller src/
cp -r src/ros2_controllers/imu_sensor_broadcaster src/
rm -rf src/ros2_controllers
rosdep init
rosdep update --rosdistro $ROS_DISTRO
rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
- Running
source install/setup.bash
ros2 launch rosbot_xl_bringup bringup.launch.py
[!IMPORTANT] Whenever the software version is changed, it is recommended to update the firmware version to ensure that the package version is compatible with the firmware version.
sudo su # Get admin permissions to flash firmware source install/setup.bash ros2 run rosbot_xl_utils flash_firmware exit
Build and run Gazebo simulation
- Build the package
export HUSARION_ROS_BUILD=simulation
source /opt/ros/$ROS_DISTRO/setup.bash
vcs import src < src/rosbot_xl/rosbot_xl_hardware.repos
vcs import src < src/rosbot_xl/rosbot_xl_simulation.repos
# Copy only diff_drive_controller and imu_sensor_broadcaster, waits for features from ros2-control
cp -r src/ros2_controllers/diff_drive_controller src/
cp -r src/ros2_controllers/imu_sensor_broadcaster src/
rm -rf src/ros2_controllers
rosdep init
rosdep update --rosdistro $ROS_DISTRO
rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
- Running
source install/setup.bash
ros2 launch rosbot_xl_gazebo simulation.launch.py
Demos
For further usage examples check out our other repositories:
File truncated at 100 lines see the full file
CONTRIBUTING
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