https://github.com/spesrobotics/spes_autonomy

Spes Robotics autonomy stack
https://github.com/spesrobotics/spes_autonomy

docker navigation ros2 simulation

Last synced: 3 months ago
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Spes Robotics autonomy stack

• Host: GitHub
• URL: https://github.com/spesrobotics/spes_autonomy
• Owner: SpesRobotics
• License: agpl-3.0
• Created: 2022-08-22T20:30:53.000Z (over 2 years ago)
• Default Branch: main
• Last Pushed: 2024-09-27T15:49:20.000Z (5 months ago)
• Last Synced: 2024-11-27T09:40:41.728Z (3 months ago)
• Topics: docker, navigation, ros2, simulation
• Language: Python
• Homepage: https://spes.ai
• Size: 58.7 MB
• Stars: 2
• Watchers: 1
• Forks: 2
• Open Issues: 5
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

Awesome Lists containing this project

README

        
# Spes Autonomy

Spes Robotics autonomy packages, software infrastructure, and hardware platform.

## Installation

You can install as a typical ROS workspace, but we highly recommend using Docker: 

```bash

# Install Docker (and other dependencies)

sudo apt install git make curl

curl https://get.docker.com | sh && sudo systemctl --now enable docker

# Clone the repo

git clone https://github.com/SpesRobotics/spes_autonomy.git $HOME/spes_autonomy

# Build and run the Docker image (only once)

make -f $HOME/spes_autonomy/docker/Makefile build-pc run

# Attach to a terminal

make -f $HOME/spes_autonomy/docker/Makefile exec

```

## Examples

Visual servoing with latency compensation:

```bash

ros2 launch spes_tests test_move_latency_compensation_launch.py

```

SLAM & Navigation:

```bash

# Create a map

ros2 launch nav2_bringup slam_launch.py

rviz2

# Save the map

ros2 run nav2_map_server map_saver_cli -f /spesbot/assets/map

# Navigate

ros2 launch nav2_bringup bringup_launch.py map:=/spesbot/assets/map.yaml

ros2 launch nav2_bringup rviz_launch.py

```