This repository contains packages to go alongside our dedicated demonstration tutorials which will allow you to get Slamcore up and running with ROS 2 Foxy or Galactic in no time. The current examples demonstrate how to integrate Slamcore with Nav2, the ROS 2 Navigation Stack, using a RealSense D435i depth camera and one of the following robots:
The TurtleBot 4 uses a Create 3 as the base. We have launch files to use our software on the standalone Create 3 base, as well as on the TurtleBot 4 robots, to take advantage of the additional features provided by the TurtleBot 4 software packages.
We have tested these examples on the following hardware platforms:
Nevertheless, by following our Nav2 Integration Tutorial you will be able to modify the launch and config files in this repo to suit your setup.
- Kobuki
- ROS 2 Foxy
- Slamcore C++ API v23.01.48
- Slamcore ROS 2 Wrapper v23.01.13
- Create 3
- ROS 2 Galactic
- Slamcore C++ API v23.01.48
- Slamcore ROS 2 Wrapper v23.01.13
- Create 3 Firmware G.4.1+
- TurtleBot 4 Standard/Lite
- ROS 2 Galactic
- Slamcore C++ API v23.01.48
- Slamcore ROS 2 Wrapper v23.01.13
- Create 3 Firmware G.4.1+
You have two options to set up your system for this demo:
- Install the required Debian packages and setup your ROS workspace manually on
an Ubuntu 20.04 system. See the
dependencies-<robot>.txtfor reference. - Run the demo inside a docker container. You can create it using the Dockerfile and Taskfile provided. This is suggested especially for devices running Ubuntu 18.04.
For detailed steps on how to integrate Slamcore's ROS 2 wrapper with Nav2 head over to our Nav2 Integration Tutorial. The tutorial will take you through all the steps from cloning this repository and setting up dependencies (or Docker), to creating a map, navigating and sending goals from a remote machine.
Slamcore offers commercial-grade visual-inertial simultaneous localisation and mapping (SLAM) software for real-time autonomous navigation on robots and drones.