rob6_mobilebase

This is the repository for AAU Robotics bachelor project. This project aims to compete in DTUs annual competition RoboCup, using a custom mobile robotic platform, with a crustcrawler manipulator. This repository has all the code for the industrial pc running ubuntu server and ROS2 galactic. The PLC code can be found here: https://github.com/Rlilholt99/ROB6_brdkAGV_PLC

Install dependencies

sudo apt install ros-galactic-slam-toolbox ros-galactic-ros2-control ros-galactic-ros2-controllers ros-galactic-xacro ros-galactic-joint-state-publisher-gui ros-galactic-twist-mux ros-galactic-sick-safetyscanners-base ros-galactic-sick-safetyscanners2-interfaces ros-galactic-dynamixel-workbench-toolbox ros-galactic-moveit ros-galactic-bondcpp ros-galactic-behaviortree-cpp-v3 ros-galactic-test-msgs ros-galactic-realsense2-* ros-galactic-navigation2 ros-galactic-nav2-simple-commander pip ros-galactic-backward-ros ros-galactic-librealsense2*

pip install opencv-python

In a ros2 workspace build teb_local_planner and sicksafety_scanners2 from source

mkdir -p ~/ros2_ws/src
cd ros2_ws/src
git clone https://github.com/rst-tu-dortmund/teb_local_planner.git -b galactic
git clone https://github.com/rst-tu-dortmund/costmap_converter.git -b ros2 
git clone https://github.com/SICKAG/sick_safetyscanners2.git 
cd ..
rosdep update --include-eol
rosdep install -y -r -q --from-paths src --ignore-src --rosdistro galactic
colcon build --symlink-install
# remember to source the workspace !

Install this repository

Since you are likely going to edit the source code for this at some point we recommend that it is built in a separate workspace.

mkdir -p ~/galactic/src
cd ~/galactic/src
git clone https://github.com/Lass6230/rob6_mobilebase
git clone https://github.com/dynamixel-community/dynamixel_hardware -b galactic
cd ..
rosdep update --include-eol
rosdep install -y -r -q --from-paths src --ignore-src --rosdistro galactic
colcon build --symlink-install --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON
# remember to source the workspace!

Switch to Cyclone DDS

sudo apt install ros-galactic-rmw-cyclonedds-cpp
# Export the cyclonedds as your RMW automatically with: 
echo export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp >> .bashrc

For simulation (optional)

sudo apt install ros-galactic-turtlebot3* ros-galactic-gazebo-ros2-control ros-galactic-gazebo-ros-pkgs

Remember to change the ip address of the lidar in the launch file "sick_safetyscanners2_launch.py"