Refstop/omo_r1-foxy

ROS2 packages for omorobot r1 mini

This project is to demonstrate R1mini control and navigation in ROS2-foxy environment.
한국어 사용자는 다음 한국어문서를 참조하십시오.

Build source

Clone source

  cd {$workspace_path}/src/
  git clone https://github.com/omorobot/omo_r1mini-foxy.git
  git clone https://github.com/PinkWink/YDLidar-SDK.git
  git clone https://github.com/PinkWink/ydlidar_ros2_driver.git

Build LiDAR's SDK

  cd {$workspace_path}/src/YDLidar-SDK
  cd build
  cmake ..
  make
  sudo make install

Install dependency packages

Following additional packages may be reuqired to be installed.

• gazebo
• ros-foxy-gazebo-ros-pkgs
• cartographer-ros
• nav2_map_server
• pyserial

sudo apt install -y ros-foxy-gazebo-ros ros-foxy-cartographer-ros ros-foxy-nav2-map-server ros-foxy-gazebo-ros-pkgs

pip install pyserial

Build ROS2 source

• To build

  cd {$workspace_path}
  colcon build --symlink-install

• To enable the built source into ROS2 environment

  cd {$workspace_path}
  ./install/setup.bash

Play with the robot

• To give authority for driver access to MCU and LiDAR

cd {$workspace_path}/src/omo_r1mini/omo_r1_bringup
sudo sh create_udev_rules.sh

• To bringup robot

cd {$workspace_path}
ros2 launch omo_r1_bringup omo_r1_bringup.launch.py

• To bringup robot (in simulation environment)

cd {$workspace_path}
ros2 launch omo_r1_gazebo omo_r1mini.launch.py

• To teleoperate the robot using KEYBOARD

cd {$workspace_path}
ros2 run omo_r1_teleop teleop_keyboard

• To conduct SLAM (Try after few seconds from MCU and LiDAR bringup)

cd {$workspace_path}
ros2 launch omo_r1_cartographer cartographer.launch.py
ros2 launch omo_r1_cartographer cartographer_rviz.launch.py

• Once mapping is done, you can create map.pgm and map.yaml file by executing

cd {$HOME}
ros2 run nav2_map_server map_saver_cli -f map

• To conduct path planning & following (Try after few seconds from MCU and LiDAR bringup)

cd {$workspace_path}
ros2 launch omo_r1_navigation2 navigation2.launch.py map:=$HOME/map.yaml
ros2 launch omo_r1_navigation2 navigation2_rviz.launch.py