donghee/firstbot_zara

금오공대 ROS 2 수업 2022년 여름

ros2 foxy, tank 이용

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Raspberry PI

echo "export ROS_DOMAIN_ID=<your_domain_id>" >> ~/.bashrc
source ~/.bashrc

tf2

ros2 run tf2_ros static_transform_publisher 0 0 0 0 0 0 world map
ros2 run tf2_ros static_transform_publisher 0 0 0 0 0 0 map odom
ros2 run tf2_ros static_transform_publisher -0.05 0 0.3 0 0 0 base_link laser
ros2 run tf2_ros static_transform_publisher 0.1 0 0.2 0 0 0 base_link imu_link

two dc motor control

colcon build --packages-select tank_control && . install/setup.sh && ros2 run tank_control robot_control

imu

cd ros2_ws
ros2 launch mpu9250 mpu9250.launch.py

odometry

ros2 run robot_localization ekf_node --ros-args --params-file $HOME/ekf_params.yaml

lidar

cd ros2_ws
ros2 launch sllidar_ros2 sllidar_launch.py

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PC

echo "export ROS_DOMAIN_ID=<your_domain_id>" >> ~/.bashrc
source ~/.bashrc

teleop

ros2 run teleop_twist_keyboard teleop_twist_keyboard

cartographer

ros2 launch tank_cartographer cartographer.launch.py
ros2 launch tank_cartographer cartographer_rviz.launch.py

nav2 map saver

cd ~/
ros2 run nav2_map_server map_saver_cli -f map

navigation

ros2 launch tank_navigation2 navigation2.launch.py map:=$HOME/map.yaml
ros2 launch tank_navigation2 navigation2_rviz.launch.py