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https://github.com/gbr1/ros2_amr_interface
A lightweight interface for AMRs
https://github.com/gbr1/ros2_amr_interface
amr arduino interface middleware robotics ros ros2
Last synced: 9 days ago
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A lightweight interface for AMRs
- Host: GitHub
- URL: https://github.com/gbr1/ros2_amr_interface
- Owner: gbr1
- License: mit
- Created: 2022-01-20T16:01:50.000Z (almost 3 years ago)
- Default Branch: main
- Last Pushed: 2022-06-06T08:59:40.000Z (over 2 years ago)
- Last Synced: 2024-06-05T15:56:30.222Z (5 months ago)
- Topics: amr, arduino, interface, middleware, robotics, ros, ros2
- Language: C++
- Homepage:
- Size: 106 KB
- Stars: 12
- Watchers: 4
- Forks: 1
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
Awesome Lists containing this project
README
# ROS2 AMR interface
Lightweight package to get AMRs working with ROS2.
## Launch file
`ros2 launch ros2_amr_interface minimal_launch.py`
## Nodes
- [amr_interface_node](./docs/nodes.md)
---
## How install
### 1. Prerequisites
- [ROS2](https://docs.ros.org/en/foxy/Installation/Ubuntu-Install-Debians.html)
- [colcon](https://docs.ros.org/en/foxy/Tutorials/Colcon-Tutorial.html)
- [workspace](https://docs.ros.org/en/foxy/Tutorials/Workspace/Creating-A-Workspace.html)
- [permissions on dialout](https://github.com/gbr1/TIL/blob/main/Linux/22-01-24_How_add_user_to_dialout_group.md)
### 2. Install AMR interface package
You require to install dependencies, since binaries sometimes are not updated install transport_drivers from source:
``` bash
cd ~/dev_ws/src
git clone https://github.com/ros-drivers/transport_drivers.git
cd ..
rosdep install --from-paths src --ignore-src -r -y
colcon build
source install/setup.bash
```
then install amr package by:
``` bash
cd ~/dev_ws/src
git clone https://github.com/gbr1/ros2_amr_interface.git
cd ..
rosdep install --from-paths src --ignore-src -r -y
colcon build
source install/setup.bash
```
**NOTE:** add install/setup.bash to your .bashrc to be faster in using terminal tabs
---
## Parameters
You can learn more about node's parameters [here](./docs/parameters.md).
## Topics
Check this [documentation](./docs/topics.md) about pub/sub topics.
## Examples
If you need to use `ros2_amr_interface` with your own hardware, you can check this [guide](./docs/arduino_example.md) on how to use with arduino.
There are also some config files for rviz and joypads, here an example of [how to start a joypad](./docs/joypad.md).
This [guide](./docs/launch.md) helps you to understand how change your launch file parameters.
---
> ***Copyright (c) 2022 G. Bruno under MIT license***