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https://github.com/ncolesummers/cs453-lab5
Introduction to ROS2 and Create3 for CS 453
https://github.com/ncolesummers/cs453-lab5
create3 robotics ros2 ros2-humble
Last synced: 22 days ago
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Introduction to ROS2 and Create3 for CS 453
- Host: GitHub
- URL: https://github.com/ncolesummers/cs453-lab5
- Owner: ncolesummers
- Created: 2023-11-26T01:30:28.000Z (about 1 year ago)
- Default Branch: main
- Last Pushed: 2023-11-28T03:01:48.000Z (about 1 year ago)
- Last Synced: 2024-11-11T09:13:00.957Z (3 months ago)
- Topics: create3, robotics, ros2, ros2-humble
- Language: Python
- Homepage:
- Size: 60.5 KB
- Stars: 0
- Watchers: 1
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
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README
# CS 453 Lab 5: Docking
This lab serves as an introduction to ROS2 using the Create3 from iRobot. The Create3 is a mobile robot that can be controlled using ROS2. The Create3 has a docking station that it can autonomously dock with. This lab will focus on using the Create3 to dock with the docking station.
Steps:
1. Undock
2. Drive 1m
3. Turn randomly
4. Drive 0.5m
5. Dock without the Dock action
Additional Requirements:
- Add chirp tones between transitions. For Example, before you drive, play a tone to signify you’re driving.
- Different tones between steps might be a helpful debugging tool!
- Fully docked is: /dock_status.is_docked = True
## Running the Code
### Requirements
- ROS2 and the Create3 ROS2 packages must be installed. See the [Create3 ROS2 Setup](https://iroboteducation.github.io/create3_docs/setup/ubuntu2204/) for guidance.
- This Repo
### Build
Use colcon to build the packages
```bash
$ colcon build
```
### Run
1. source the ROS2 environment:
```bash
$ source install/setup.bash
```
2. Spin up the dockStatus node:
```bash
$ ros2 run dockStatus dockStatus
```
3. Spin up the dock node:
```bash
$ ros2 run dock dock
```
## About
### Constants
The dictionary constants at the top of the dock.py file are inspired by [Design Tokens](https://designsystem.digital.gov/design-tokens/).