RobInLabUJI / tb2_ros2

tb2_ros2

IMPORTANT: check the values of ROS_IP and ROS_MASTER_URI in docker-compose.yaml

Terminal 1

ssh pi@192.168.0.114

source /opt/ros/noetic/setup.bash
source ~/catkin_ws/devel/setup.bash
export ROS_IP=192.168.0.114
export ROS_MASTER_URI=http://192.168.0.114:11311
export TURTLEBOT_BATTERY=None
roslaunch turtlebot_bringup minimal.launch

Terminal 2

ssh pi@192.168.0.114

source /opt/ros/noetic/setup.bash
source ~/catkin_ws/devel/setup.bash
export ROS_IP=192.168.0.114
export ROS_MASTER_URI=http://192.168.0.114:11311
rosparam load bridge_ros2/config.yaml 
export TURTLEBOT_3D_SENSOR=astra
roslaunch turtlebot_navigation scan.launch

Terminal 3

ssh pi@192.168.0.114

source /opt/ros/noetic/setup.bash
source ~/catkin_ws/devel/setup.bash
export ROS_IP=192.168.0.114
export ROS_MASTER_URI=http://192.168.0.114:11311
roslaunch ros1-tf-remapper-cpp.launch 

Terminal 4

docker compose up

Terminal 5

xhost +
docker run --env="USER=eiforamr" --name ei4amr-full \
  --env="DISPLAY=$DISPLAY" -v /tmp/.X11-unix:/tmp/.X11-unix -v $(pwd)/config:/config \
  --network host --ipc host --rm -it eiforamr-full-flavour-sdk:2022.3 \
  /bin/bash

rviz2 -d /config/nav.rviz

Terminal 6

docker exec -it ei4amr-full /bin/bash
source /opt/ros/foxy/setup.bash
ros2 launch nav2_bringup navigation_launch.py use_sim_time:=false

Terminal 7

docker exec -it ei4amr-full /bin/bash
source /opt/ros/foxy/setup.bash
ros2 launch slam_toolbox online_async_launch.py use_sim_time:=false

Terminal 8

docker exec -it ei4amr-full /bin/bash
source /opt/ros/foxy/setup.bash
ros2 run teleop_twist_keyboard teleop_twist_keyboard