ROS2 projects.
The assumbed operating system is Ubuntu 22.04. The required packages are the extra packages besides the ros-humble-desktop
version.
Assuming the ROS2 workspace is ~/ros2_ws
and the ~/ros2_ws/install/local_setup.bash
is set up (sourced) in the ~/.bashrc
,
the package can be downloaded and installed by:
cd ~/ros2_ws/src
git clone https://github.com/g0mb4/mate_ros2_projects.git
cd ..
colcon build
source ~/.bashrc
A virtual camera that can output PNG images into the ROS network emulating a real camera.
ros2 launch dummy_camera start.launch.py
sudo add-apt-repository ppa:linuxuprising/libpng12
sudo add-apt-repository "deb http://security.ubuntu.com/ubuntu xenial-security main"
sudo apt update
sudo apt install -y locate libpng12-0 libjasper1 libjasper-dev
- using external C++ libraries (OpenCV)
RCLCPP FATAL()
macro- topic remapping
- change the name of the node
--symlink-install
A position control demonstartion using turtlesim. The game_master will spawn a target turtle at random position and the turtle1_controller drives the turtle to reach the target.
ros2 launch turtle_catcher start.launch.py
- position control
- chaining async service calls
Qt5 integration demo, it will show the position of the turtle.
ros2 launch qt_turtle start.launch.py
sudo apt update
sudo apt install -y qt5-default qtcreator
- Qt5 framework
Browser (JavaScript) integration demo, it will start a webserver and allows the user to drive the turtle using a browser.
ros2 launch web_turtle start.launch.py
pip3 install tornado
cd ros2_ws/src
git clone https://github.com/RobotWebTools/rosbridge_suite.git
cd ..
colcon build
source ~/.bashrc
rosbridge
- JavaScript
- andvanced launch files
Rviz 3D visualization tool demonstration, shows a simple URDF model of the turtle in Rviz.
ros2 launch rviz_turtle start.launch.py
rviz
- URDF format
- robot state
- transform functions
- TF tree
gazebo simulation demo using an SDF model differential drive robot with a lidar, it will start the gazebo simulator and the Rviz tool.
ros2 launch gazebo_demo start.launch.py
sudo apt update
sudo apt install ros-humble-gazebo-ros-pkgs
gazebo
- SDF format