m-explore ROS2 port

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

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). You should use brach specific for your release i.e. foxy for foxy.

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.