/myagv_ros2

Elephant AGV myAGV ROS2 python package

Primary LanguagePython

Elephant myAGV ROS2 full python package

This package is ROS2 full python package for Elephant robotics myAGV autonomous vehicle.

Operating vehicle

Tunr on lidar

At first you need to turn on Raspberry pi GPIO 20. myAGV hardware need such action. To turn on lidar, execute following script.

pi@pi:~/myagv_ws$ sudo python3 src/myagv_node/myagv_node/lidar_on.py

Turn off lidar

To turn off lidar, execute following script.

pi@pi:~/myagv_ws$ sudo python3 src/myagv_node/myagv_node/lidar_off.py

To view URDF on rViz

To view myAGV URDF file on rViz, execute follwing launch script.

pi@pi:~/myagv_ws$ ros2 launch myagv_description view_launch.py 

To operate myAGV wheel, execute follwoing launch script.

pi@pi:~/myagv_ws$ ros2 launch myagv_bringup myagv_launch.py

And open another terminal, execute follwing teleop node.

pi@pi:~/myagv_ws$ ros2 run teleop_twist_keyboard  teleop_twist_keyboard

You can operate vehicle wheel using some keys.

To Dos

  • Lidar still does not work.
  • viewing URDF of real myAGV to rViz
  • Adding Cartographer and navigation2