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m-explore ROS2 port

ROS2 package port for (not yet multi) robot exploration of m-explore. Currently tested on Eloquent, Dashing, Foxy, and Galactic distros.

TB3

https://user-images.githubusercontent.com/8033598/128805356-be90a880-16c6-4fc9-8f54-e3302873dc8c.mp4

On a JetBot with realsense cameras

https://user-images.githubusercontent.com/18732666/128493567-6841dde0-2250-4d81-9bcb-8b216e0fb34d.mp4

Installing

No binaries yet.

Building

Build as a standard colcon package. There are no special dependencies needed (use rosdep to resolve dependencies in ROS).

RUNNING

To run with a params file just run it with

ros2 run explore_lite explore --ros-args --params-file <path_to_ros_ws>/m-explore/explore/config/params.yaml

Running the demo with TB3

Install nav2 and tb3 simulation. You can follow the tutorial. Then just run the nav2 stack with slam:

ros2 launch nav2_bringup tb3_simulation_launch.py slam:=true

And run this package with

ros2 launch explore_lite explore.launch.py

TB3 troubleshooting

If you have trouble with TB3 in simulation like we did, add this extra steps for configuring it.

source /opt/ros/${ROS_DISTRO}/setup.bash
export TURTLEBOT3_MODEL=waffle
sudo rm -rf /opt/ros/${ROS_DISTRO}/share/turtlebot3_simulations
sudo git clone https://github.com/ROBOTIS-GIT/turtlebot3_simulations /opt/ros/${ROS_DISTRO}/share/turtlebot3_simulations
export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:/opt/ros/${ROS_DISTRO}/share/turtlebot3_simulations/turtlebot3_gazebo/models

Then you'll be able to run it.

WIKI

No wiki yet.

COPYRIGHT

Packages are licensed under BSD license. See respective files for details.

1.8 KiB Raw Blame History