https://github.com/openrr/openrr-mobile
https://github.com/openrr/openrr-mobile
Last synced: about 1 month ago
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- Host: GitHub
- URL: https://github.com/openrr/openrr-mobile
- Owner: openrr
- License: apache-2.0
- Created: 2022-11-25T10:10:10.000Z (over 3 years ago)
- Default Branch: main
- Last Pushed: 2022-12-16T06:18:48.000Z (over 3 years ago)
- Last Synced: 2025-11-29T17:26:08.854Z (7 months ago)
- Language: Rust
- Size: 9.77 KB
- Stars: 0
- Watchers: 2
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
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README
# OpenRR Mobile
Mobile robot controller using `OpenRR`
## Binary apps list
| Binary name | File name | Description | Remarks |
| ----------- | ------------------------- | ----------------------------------------- | ----------------------------------- |
| teleop | teleoperation.rs | Control robot using gamepad. | features `ros` (optional) |
| auto | automation.rs | Robot does random walk. | features `ros` or `ros2` (optional) |
| uviz_teleop | urdf_viz_teleoperation.rs | Same as `teleop` but only for `urdf-viz`. | |
| uviz_auto | urdf_viz_automation.rs | Same as `auto` but only for `urdf-viz`. | |
| ros_teleop | ros_teleoperation.rs | Same as `teleop` but only for `ROS`. | features `ros` (required) |
| ros_auto | ros_automation.rs | Same as `auto` but only for `ROS`. | features `ros` (required) |
| ros2_auto | ros2_automation.rs | Same as `auto` but only for `ROS2`. | features `ros2` (required) |
## Build and Run
```bash
cargo run --bin [optional features]
```
### Example (`urdf-viz`)
If current directory is `openrr`.
```bash
urdf-viz ./openrr-planner/sample.urdf &
cargo run --bin {teleop / auto / uviz_teleop / uviz_auto}
```
If you have used a `Turtlebot3`.
```bash
urdf-viz $(rospack find turtlebot3_description)/urdf/turtlebot3_burger.urdf.xacro &
cargo run --bin {teleop / auto / uviz_teleop / uviz_auto}
```
### Example (`ROS`)
Open new terminal
```bash
roslaunch turtlebot3_gazebo turtlebot3_empty_world.launch
```
```bash
rosrun joy joy_node
```
```bash
cargo run --features ros --bin {teleop / auto / ros_teleop / ros_auto}
```
### Example (`ROS2`)
```bash
ros2 launch turtlebot3_gazebo empty_world.launch.py
```
```bash
cargo run --features ros2 --bin {auto / ros2_auto}
```