This repository contains the ROS2 interface developed for the mobile robot Shelfino of the Department of Information Engineering and Computer Science of the University of Trento, Italy.
Both a bringup node for the physical robot and a simulation of the robot itself are present here.
The topics provided by the interface are:
| TOPIC | Description |
|---|---|
| /scan | Data from the Lidar |
| /odom | Data of the odometry (sensor fusion of the RealSense and encoders data) |
| /t265 | Data from the RealSense camera |
| /joint_states | Data from the encoders of the wheels |
| /cmd_vel | Topic to control the movement of the robot acting on the velocities |
| /robot_description | The urdf description of the shelfino robot |
| /tf_static | The fixed transform between the base_link frame and the base_laser frame |
| /tf | The tranforms between the robot and the odom frame, and between the wheels and the robot body |
You can pull the docker image containing all the ROS2 nodes of this project with:
docker pull pla10/ros2_humble:amd64
Check the complete documentation of this repository.