ROS2 package for Robotino. Fully redesigned package that adapts to Robotino RestAPI.
To run this package, you have to install these system components first.
- Robotino4 OS
- ROS Galactic on the Robotino.
- ROS Galactic or Humble on your machine
Use other version is at your OWN risk, they are NOT tested with this system.
ROS2 Humble for Robotino has not been tested, since the Robotino only supports Ubuntu 20.04.
ROS2 Humble for your PC has been tested.
Connect Robotino with ssh protocol
sshpass -p robotino robotino@robotino_ip_address
Clone this repository by
git clone https://github.com/arendjan/ROS2_Robotino.git
Install dependencies with rosdep
rosdep install --from-paths ROS2_Robotino --ignore-src -r -y
Cd into the repo
cd ROS2_Robotino
build the package by
colcon build
Source the ros package by
source install/setup.bash
or
source install/setup.zsh
config network connection by
export ROS_DOMAIN_ID=1
launch camera, laser, control, and other nodes on the robotino by
ros2 launch robotino_ros2 robotino_local.launch.py
Or run ./start_local.sh and it will do setup and launch commands.
No need to install anything besides ROS2 (Humble) except when you want to use SLAM or use any of the Robotino messages.
Clone this repository by
git clone https://github.com/arendjan/ROS2_Robotino.git
Install dependencies with rosdep
rosdep install --from-paths ROS2_Robotino --ignore-src -r -y
Cd into the repo
cd ROS2_Robotino
build the package by
colcon build
Source the ros package by
source install/setup.bash
or
source install/setup.zsh
config network connection by
export ROS_DOMAIN_ID=1
launch the SLAM nodes by
ros2 launch robotino_ros2 robotino_slam.launch.py
Or run ./run_slam.sh to setup and launch SLAM.
/cmd_vel is there for you to control the Robotino on ROS_DOMAIN_ID=1
ros2 run teleop_twist_keyboard teleop_twist_keyboard