former_robot

Robot packages for Former (https://www.roas.co.kr/former/)

Specification

• DIMENSIONS (L X W X H): 404 X 404 X 308 MM

• WEIGHT: 35 KG

• GROUND CLEARANCE: 60 MM

• PERFORMANCE

  • MAX. SPEED: 1.5 M/S
  • MAX. PAYLOAD: 70 KG

• TYPE OF DRIVE: TWO WHEELS DIFFERENTIAL DRIVE

• DRIVE POWER: 300 W

• WORKING ENVIRONMENT: INDOOR

Source build

Get sources

$ cd ~/dev_ws/src
$ git clone https://github.com/roasinc/former_robot -b humble-devel

$ cd ~/dev_ws/src
$ wstool init
$ wstool merge -y former_robot/requirement.rosinstall
$ wstool update

Install packages for dependencies

$ cd ~/dev_ws
$ rosdep install --from-paths src --ignore-src -r -y

Build

$ cd ~/dev_ws
$ colcon build --symlink-install

Execute

Gazebo

$ ros2 launch former_gazebo bringup.launch.py world_name:=office_building.world

Robot

$ ros2 launch former_bringup bringup_robot.launch.py