68 lines
1.9 KiB
Markdown
68 lines
1.9 KiB
Markdown
# m-explore ROS2 port
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ROS2 package port for (not yet multi) robot exploration of [m-explore](https://github.com/hrnr/m-explore). Currently tested on Foxy and Eloquent distros. For eloquent, check [eloquent](https://github.com/robo-friends/m-explore-ros2/tree/eloquent) branch.
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### TB3
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https://user-images.githubusercontent.com/8033598/128805356-be90a880-16c6-4fc9-8f54-e3302873dc8c.mp4
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### On a JetBot with realsense cameras
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https://user-images.githubusercontent.com/18732666/128493567-6841dde0-2250-4d81-9bcb-8b216e0fb34d.mp4
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Installing
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----------
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No binaries yet.
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Building
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--------
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Build as a standard colcon package. There are no special dependencies needed
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(use rosdep to resolve dependencies in ROS). You should use brach specific for
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your release i.e. `foxy` for foxy.
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RUNNING
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-------
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To run with a params file just run it with
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```
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ros2 run explore_lite explore --ros-args --params-file <path_to_ros_ws>/m-explore/explore/config/params.yaml
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```
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### Running the demo with TB3
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Install nav2 and tb3 simulation. You can follow the [tutorial](https://navigation.ros.org/getting_started/index.html#installation).
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Then just run the nav2 stack with slam:
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```
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ros2 launch nav2_bringup tb3_simulation_launch.py slam:=true
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```
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And run this package with
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```
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ros2 launch explore_lite explore.launch.py
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```
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#### TB3 troubleshooting
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If you have trouble with TB3 in simulation like we did, add this extra steps for configuring it.
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```
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source /opt/ros/${ROS_DISTRO}/setup.bash
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export TURTLEBOT3_MODEL=waffle
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sudo rm -rf /opt/ros/${ROS_DISTRO}/share/turtlebot3_simulations
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sudo git clone https://github.com/ROBOTIS-GIT/turtlebot3_simulations /opt/ros/${ROS_DISTRO}/share/turtlebot3_simulations
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export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:/opt/ros/${ROS_DISTRO}/share/turtlebot3_simulations/turtlebot3_gazebo/models
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```
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Then you'll be able to run it.
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WIKI
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----
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No wiki yet.
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COPYRIGHT
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---------
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Packages are licensed under BSD license. See respective files for details.
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