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warehouse_project\n\n\nhttps://github.com/Andy-Leo10/warehouse_project/assets/60716487/4628aa23-c77a-4e4f-ab95-7df550ce822a\n\n\n## Mandatory\n+ Start the simulation in ROS1\n```\nsource ~/simulation_ws/devel/setup.bash\nroslaunch rb1_base_gazebo warehouse_rb1.launch\n```\n+ Start the ROS1 bridge\n```\nsource ~/simulation_ws/devel/setup.bash\nroslaunch load_params load_params_base.launch\nsource /opt/ros/galactic/setup.bash\nros2 run ros1_bridge parameter_bridge\n```\n\n## 1 Mapping Launch files\n- [x] Start mapping\n```\nros2 launch cartographer_slam cartographer.launch.py\nrso2 launch cartographer_slam start_rviz_with_arguments.launch.py\nros2 run nav2_map_server map_saver_cli -f NAME\n```\n- [x] Providing map\n```\nros2 launch map_server map_server.launch.py map_file:=warehouse_map_sim.yaml use_sim_time:=True\nros2 launch map_server map_server.launch.py map_file:=warehouse_map_real.yaml use_sim_time:=False\n```\n\n## 2 Localization Launch files\n- [x] Start localization\n```\nros2 launch localization_server localization.launch.py map_file:=warehouse_map_sim.yaml use_sim_time:=True\nros2 launch localization_server localization.launch.py map_file:=warehouse_map_real.yaml use_sim_time:=False\n```\n\n## 3 Navigation Launch files\n- [x] Pre approach\n\n```\nros2 launch path_planner_server pathplanner.launch.py use_sim_time:=True\nros2 launch path_planner_server pathplanner.launch.py use_sim_time:=False\n```\n\n## 4 NAV2 app Launch files\n- [x] RB1 working on the warehouse\n\n```\npython3 move_shelf_to_ship.py --use_sim_time True\npython3 move_shelf_to_ship.py --use_sim_time False\n```\n\n## Others\n```\nros2 run tf2_tools view_frames\n```\n```\nros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args --remap cmd_vel:=/robot/cmd_vel\nros2 topic pub /elevator_up std_msgs/msg/String \"{}\"\nros2 topic pub /elevator_down std_msgs/msg/String \"{}\"\n```\n\n[rosgraph.pdf](https://github.com/Andy-Leo10/warehouse_project/files/13794902/rosgraph.pdf)\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fandy-leo10%2Fwarehouse_project","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fandy-leo10%2Fwarehouse_project","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fandy-leo10%2Fwarehouse_project/lists"}