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Porting spotmicro to ros2 #20

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Porting spotmicro to ros2 #20

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11 changes: 8 additions & 3 deletions configs/spotmicro_config/CMakeLists.txt
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Original file line number Diff line number Diff line change
@@ -1,6 +1,11 @@
cmake_minimum_required(VERSION 2.8.3)
cmake_minimum_required(VERSION 3.5)
project(spotmicro_config)

find_package(catkin REQUIRED COMPONENTS)
find_package(ament_cmake REQUIRED)

catkin_package()
install(
DIRECTORY launch config maps worlds
DESTINATION share/${PROJECT_NAME}
)

ament_package()
27 changes: 13 additions & 14 deletions configs/spotmicro_config/README.md
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Expand Up @@ -7,24 +7,20 @@ You don't need a physical robot to run the following demos.

#### 1.1.1. Run the base driver:

roslaunch spotmicro_config bringup.launch rviz:=true
ros2 launch spotmicro_config bringup.launch.py rviz:=true

#### 1.1.2. Run the teleop node:

roslaunch champ_teleop teleop.launch

If you want to use a [joystick](https://www.logitechg.com/en-hk/products/gamepads/f710-wireless-gamepad.html) add joy:=true as an argument.
#### 1.1.2. Run the teleop node:

ros2 launch champ_teleop teleop.launch.py

### 1.2. SLAM demo:

#### 1.2.1. Run the Gazebo environment:

roslaunch spotmicro_config gazebo.launch
ros2 launch spotmicro_config gazebo.launch.py

#### 1.2.2. Run gmapping package and move_base:

roslaunch spotmicro_config slam.launch rviz:=true
#### 1.2.2 Run [Nav2](https://navigation.ros.org/)'s navigation and [slam_toolbox](https://github.com/SteveMacenski/slam_toolbox):

To start mapping:

Expand All @@ -35,18 +31,21 @@ To start mapping:

- Save the map by running:

roscd spotmicro_config/maps
rosrun map_server map_saver
cd spotmicro_config/maps
ros2 run nav2_map_server map_saver_cli -f new_map

After this, you can use the new_map to do pure navigation.


### 1.3. Autonomous Navigation:

#### 1.3.1. Run the Gazebo environment:

roslaunch spotmicro_config gazebo.launch
ros2 launch spotmicro_config gazebo.launch.py

#### 1.3.2. Run amcl and move_base:
#### 1.3.2 Run [Nav2](https://navigation.ros.org/):

roslaunch spotmicro_config navigate.launch rviz:=true
ros2 launch spotmicro_config navigate.launch.py rviz:=true

To navigate:

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