boxer_ros2

Overview

ROS2 packages for Boxer

Install packages

cd ~/colcon_ws/src/
git clone https://github.com/roasinc/boxer_ros2.git

Important

Install on the backpack computer.

Build

cd ~/colcon_ws/
rosdep insta
colcon build --symlink-install

Usage

Backpack PC

zenoh-bridge-ros2dds
ros2 launch boxer_bringup bringup_launch.py
ros2 launch boxer_navigation slam_launch.py or nav2_launch.py

Remote PC

zenoh-bridge-ros2dds -e tcp/<robot_ip>:7447
sudo ip l set lo multicast on
ros2 launch boxer_navigation rviz_launch.py

Tip

Check the Boxer's API version and serial number before running.