Skip to content

Latest commit

 

History

History
82 lines (70 loc) · 3.46 KB

RUN.md

File metadata and controls

82 lines (70 loc) · 3.46 KB

Running Guide

This guide will walk you through running the sample applications included in the Weston Robot Development Kit.

This repository includes 2 sample mapping setups:

  1. 2D SLAM with Cartographer
  2. 2D VSLAM with RTABMap

Both setups are integrated with Nav2 navigation, enabling autonomous waypoint navigation for your robot.

Sample launch files can be found in the wr_devkit_bringup package. They are meant to be used as a starting point for your own development and can be customized to your needs.

A more detailed guide can be found on our documentation site

Below is the typical workflow to bring up the robot and run some sample applications.

Setup hardware

NOTE: This example assumes a ranger mini v2 robot base

  • Bringup CAN Bus for Robot bases 
    $ sudo ip link set can0 up type can bitrate 500000
$ sudo ip link set can0 txqueuelen 1000

Platform Bringup

Remember to source the ROS Workspace first

The platform bringup launch file initializes the robot hardware and required ROS2 nodes. It is a prerequisite for running the other applications.

  $ ros2 launch wr_devkit_bringup wr_devkit_platform.launch.py robot_model:=ranger_mini_v2

Mapping

Cartographer 2D SLAM Bringup

  • Start the Cartographer SLAM node 
      $ ros2 launch wr_devkit_bringup wr_devkit_cartographer.launch.py
  • Control the robot using the teleop_twist_keyboard or other methods around the environment to create a map 
      $ ros2 run teleop_twist_keyboard teleop_twist_keyboard
  • Save the map 
      $ cd <path-to-workspace>/wr_devkit_navigation/src/wr_devkit_bringup/maps
  $ ros2 run nav2_map_server map_saver_cli -f <your_map_name>

RTABMAP 2D VSLAM Bringup

Note: RTAB-Map requires an RGB-D camera (e.g., Intel RealSense D435) for operation.

  • Start the RTAB-Map node 
      $ ros2 launch wr_devkit_bringup wr_devkit_rtabmap.launch.py
  • Control the robot using the teleop_twist_keyboard or other methods around the environment to create a map 
      $ ros2 run teleop_twist_keyboard teleop_twist_keyboard
  • Save the map 
    After building the map, you can exit the program directly. The map will automatically save as *rtabmap.db* in the main directory under *.ros*.

Nav2 Navigation

If you are using Cartographer SLAM:

  • Launch Nav2 with your map 
      $ ros2 launch wr_devkit_bringup wr_devkit_nav2.launch.py robot_param:=nav2_ranger_mini.param.yaml map:=<your_map_yaml>

Note: Replace <your_map_yaml> with the path to the map file you saved earlier.

If you are using RTAB-Map:

  • Launch RTAB-Map node in localization mode 
    $ ros2 launch wr_devkit_bringup wr_devkit_rtabmap.launch.py localization:=true
  • Launch Nav2 
    $ ros2 launch wr_devkit_bringup wr_devkit_nav2_rtab.launch.py robot_param:=nav2_scout_mini_rtab.param.yaml

Notes

  • The sample applications (Nav2/SLAM/vSLAM) are designed to be ran separately and should not be ran at the same time.
  • For more detailed instructions on running the different launch files, refer to the README file in wr_devkit_bringup.