ROS2 workspace for building wide intelligence project, University of Texas at Austin. This workspace has all the necessary packages to run BWIBOTs v2, v4, and v5.
- Ubuntu 22.04 or greater
- ROS2 humble
- serial library for ros2
- Go through the Robot startup instructions from here
Install ros2 humble first from here.
clone the repo:
Follow this instructions to install serial for ros2:
export ROS_DISTRO=humble
echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc
source ~/.bashrc
cd ~/bwi_ros2
export COLCON_WS=/path/to/your/colcon_ws/
git clone https://github.com/utexas-bwi/serial_for_ros2.git
move 'serial' out of 'serial_for_ros2' and delete 'serial_for_ros2'
cd ~/serial
rm -rf build
mkdir build
cd build
cmake ..
make
** Make sure that the serial library is in parallel to your ROS2 humble workspace. **
Follow this instructions to download Azure-Kinect camera driver:
Follow this instructions to install Azure Kinect SDK. More details you can find over here.
Please set the udev-rules following this.
ROS2 driver for Azure Kinect is already included in this workspace. To learn more about the driver please follow this
cd ~/bwi_ros2
rosdep install --from-paths src --ignore-src -r -y
colcon build
nano ~/.bashrc
Add the following line in the .bashrc file:
source /opt/ros/humble/setup.bash
Make sure to source the file when you open a new terminal. Example:
# from your [colcon ws]
source install/setup.bash
Launch segway base, sensor drivers, navigation, etc.
ros2 launch bwi_launch segbot_[BWIBOT VERSION].launch.py.
BWIBOT VERSIONS: v2, v4, and v5.
Example: ros2 launch bwi_launch segbot_v2.launch.py.
Teleoperation (Keyboard Control):
ros2 run teleop_twist_keyboard teleop_twist_keyboard
SLAM (Simultaneous Localization and Mapping):
ros2 launch nav2_bringup slam_launch.py
Save Map:
ros2 run nav2_map_server map_saver_cli -f my_map
Load Map with Navigation:
Edit the ‘map_file’ param path on segbot_v2.launch.py file: map_file = "~/bwi_ros2/src/nav2_bringup/maps/2/occ/ahg_full_closed.yaml"