Yet Another ROS 2 Navigation Robot: Raspberry Pi Mouse
I've made a LT on #ROSCon2019 about "Yet Another ROS 2 Navigation Robot: Raspberry Pi Mouse" and a call for collaboration to translate my ROS 2 book into English.
Yet Another ROS 2 Navigation Robot 3 ● RPLiDAR A1M8 ○ $100 2D LiDAR ● RPLiDAR mount ○ Made by 3D printer ○ STL file ● Raspberry Pi Mouse ○ Mobile platform using Raspberry Pi’s sysfs ○ Made by RT
System Configuration 4 Raspberry Pi 3 B PC description robot_state_ publisher RasPi Mouse driver RPLiDAR driver static_transform _publisher bringup Navigation 2 Google Cartgrapher rviz2 rosbag2 teleop_twist_ joy / keyboard Only for bringup Navigation 2 and teleop https://github.com/youtalk/raspimouse_ros2
Bring Up Raspi Mouse 1. Bring up Raspi and RPLiDAR A1M8 drivers $ ros2 launch raspimouse_bringup robot.launch.py 2. Set up Raspi Mouse lifecycle $ ros2 lifecycle set raspimouse_driver configure $ ros2 lifecycle set raspimouse_driver activate 3. Turn on the motors $ ros2 service call /motor_power std_srvs/SetBool '{data: true}' 5
SLAM with rosbag2 File 7 1. Launch the Cartographer nodes $ ros2 launch raspimouse_cartographer cartographer.launch.py 2. Play the recorded rosbag2 file $ ros2 bag play XXX.bag 3. After making 2D map, save it $ ros2 run nav2_map_server map_saver -f ~/.ros/map
Launch ROS 2 Navigation 9 1. Launch navigation nodes $ ros2 launch raspimouse_navigation2 navigation2.launch.py map:=/home/$USER/.ros/map.yaml 2. Click the “2D Pose Estimate” button to adjust the current robot location 3. Click the “Navigation2 Goal” button to give the target robot location
12 ROS2ではじめよう 次世代ロボットプログラミング ● World first ROS 2 Book ● 1 of the reviewers is Geoff (Tier IV) ● ROS 2 Dashing Diademata ● It also contains ROS 1 summary ● Call for collaboration for English translation https://amzn.to/2Ji8mQl 12