A bridge between RobotSports rsopenapi and ROS 2. Using the rsopenapi bridge ROS 2 nodes can subscribe to status information from a RobotSports soccer robot and publish control commands to make it act, e.g. move or kick.
Node
- rs_bridge_node
Publishes:
- /odom (nav_msgs/msg/Odometry)
- /obstacles (geometry_msgs/msg/PoseArray)
- /worldmodel (rs_bridge_msgs/msg/WorldModel)
- /tf (odom-->base_link)
Subscribes:
- /cmd_vel (geometry_msgs/msg/Twist)
Parameters
- robot (id of robot)
- hash (hash of robot)
Clone and build, assuming your workspace is ~/ros2_ws:
cd ~/ros2_ws/src
git clone --recurse-submodules https://github.com/dortmans/rsopenapi_ros.git
./rsopenapi_ros/rs_bridge/scripts/install_requirements.sh
cd ..
colcon build --symlink-install --packages-up-to rs_bridge
source ./install/setup.bash
Print launch arguments:
ros2 launch rs_bridge rs_bridge_launch.py -s
Run with default arguments:
ros2 launch rs_bridge rs_bridge_launch.py
Example run with arguments:
ros2 launch rs_bridge rs_bridge_launch.py robot:=1 hash:="'0x7d9066e102eb9a4f'"
Open a terminal window and run following commands to start the simulator:
cd ~/ros2_ws/src/rsopenapi_ros/rs_bridge/rsopenapi/scripts
./rsim.sh
./rsopenapi.sh -i 1
Open another terminal window and execute following command to start the gui in your browser at http://localhost:6080:
cd ~/ros2_ws/src/rsopenapi_ros/rs_bridge/rsopenapi/scripts
./gui.sh
Check the checkbox of robot 1 and select '3d-Field view'.
Use the robogui to change its operation mode to rsopenapi: Tactics -> Behavior 'rsopenapi' -> Activate
More details can be found here.
Open a new terminal window and enter following command to make the robot drive in a circle:
ros2 topic pub /cmd_vel geometry_msgs/msg/Twist "{linear: {x: 1.0}, angular: {z: 0.5}}"
Instead joystick control can be launched as follows:
ros2 launch rs_bridge joystick.launch.py
Use following command in a new terminal windows to inspect Odometry messages:
ros2 topic echo /odom --no-arr
Use rviz2 (Add -> TF) to inspect TF frames.