https://github.com/andy-leo10/warehouse_project
using ros2 with nav2 packages
https://github.com/andy-leo10/warehouse_project
api-commander nav2 pick-and-place ros2
Last synced: 12 months ago
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using ros2 with nav2 packages
- Host: GitHub
- URL: https://github.com/andy-leo10/warehouse_project
- Owner: Andy-Leo10
- Created: 2023-11-28T14:21:44.000Z (over 2 years ago)
- Default Branch: master
- Last Pushed: 2024-01-08T15:39:47.000Z (over 2 years ago)
- Last Synced: 2025-06-06T04:30:43.466Z (about 1 year ago)
- Topics: api-commander, nav2, pick-and-place, ros2
- Language: Python
- Homepage:
- Size: 134 KB
- Stars: 0
- Watchers: 1
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
Awesome Lists containing this project
README
# warehouse_project
https://github.com/Andy-Leo10/warehouse_project/assets/60716487/4628aa23-c77a-4e4f-ab95-7df550ce822a
## Mandatory
+ Start the simulation in ROS1
```
source ~/simulation_ws/devel/setup.bash
roslaunch rb1_base_gazebo warehouse_rb1.launch
```
+ Start the ROS1 bridge
```
source ~/simulation_ws/devel/setup.bash
roslaunch load_params load_params_base.launch
source /opt/ros/galactic/setup.bash
ros2 run ros1_bridge parameter_bridge
```
## 1 Mapping Launch files
- [x] Start mapping
```
ros2 launch cartographer_slam cartographer.launch.py
rso2 launch cartographer_slam start_rviz_with_arguments.launch.py
ros2 run nav2_map_server map_saver_cli -f NAME
```
- [x] Providing map
```
ros2 launch map_server map_server.launch.py map_file:=warehouse_map_sim.yaml use_sim_time:=True
ros2 launch map_server map_server.launch.py map_file:=warehouse_map_real.yaml use_sim_time:=False
```
## 2 Localization Launch files
- [x] Start localization
```
ros2 launch localization_server localization.launch.py map_file:=warehouse_map_sim.yaml use_sim_time:=True
ros2 launch localization_server localization.launch.py map_file:=warehouse_map_real.yaml use_sim_time:=False
```
## 3 Navigation Launch files
- [x] Pre approach
```
ros2 launch path_planner_server pathplanner.launch.py use_sim_time:=True
ros2 launch path_planner_server pathplanner.launch.py use_sim_time:=False
```
## 4 NAV2 app Launch files
- [x] RB1 working on the warehouse
```
python3 move_shelf_to_ship.py --use_sim_time True
python3 move_shelf_to_ship.py --use_sim_time False
```
## Others
```
ros2 run tf2_tools view_frames
```
```
ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args --remap cmd_vel:=/robot/cmd_vel
ros2 topic pub /elevator_up std_msgs/msg/String "{}"
ros2 topic pub /elevator_down std_msgs/msg/String "{}"
```
[rosgraph.pdf](https://github.com/Andy-Leo10/warehouse_project/files/13794902/rosgraph.pdf)