Husarion Demo
This repository contains a demo package with three examples for the Husarion platform.
Installation
Prerequisites
This demo requires the following packages to be installed:
astra_camera
gmapping
rviz
husarion_demo
package
Installing the To install the husarion_demo
package, clone this repository into your workspace and build it:
```
cd ~/ros_workspace/src
git clone
cd ..
catkin_make
```
Examples
Camera Demo
This example shows how to get image topics from astra_camera
package. It opens two image_view
windows with color and depth images.
Launch the cam_demo
example by running the following command:
```
roslaunch husarion_demo cam_demo.launch
```
Odometry Demo
This example shows how to get odometry data. It prints the data from /odom
topic. It opens rviz
window with the robot model and camera feeds.
This example requires the rosbot and ros-master containers to be running. To run them, run the following command:
```
docker compose up -d rosbot ros-master
```
Launch the simple
example by running the following command:
```
roslaunch husarion_demo simple.launch
```
SLAM Demo
This example shows how to run gmapping
SLAM package. It opens rviz
window with the robot model and camera feeds along with map and laser scan data from gmapping
.
This example requires the rosbot, ros-master & rplidar containers to be running. To run them, run the following command:
```
docker compose up -d rosbot ros-master rplidar
```
Launch the slam
example by running the following command:
```
roslaunch husarion_demo slam.launch
```
Troubleshooting
/odom
topic
No data from If you don't see any data from /odom
topic when you run rostopic echo /odom
, you may need to reflash the firmware on your rosbot.
To do so run the following:
```
./flash_firmware.sh
```
Refer to https://husarion.com/tutorials/howtostart/rosbot2r-quick-start/#launching-the-ros-driver
Astra camera not working
If the astra_camera
package does not work it is recommended to reinstall the package and follow the instructions on the repository page: