2023-05-25 09:31:19 +00:00
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# cps_bot_mini_ws
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2023-06-16 09:21:11 +00:00
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temporary ws for developing ros2 control on robot mini with odrive
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2023-05-25 09:31:19 +00:00
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2023-06-16 09:21:11 +00:00
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needed repos are:
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2023-05-25 09:31:19 +00:00
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- https://github.com/bjoernellens1/odrive_ros2_control on branch humble-fw-v0.5.1
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- https://github.com/bjoernellens1/rmp220_teleop on branch bot_mini
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2023-05-25 09:53:27 +00:00
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- https://github.com/bjoernellens1/ros2_cam_openCV
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2023-05-26 08:52:38 +00:00
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- https://github.com/bjoernellens1/bot_mini_bringup.git
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2023-05-25 09:52:06 +00:00
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For initialization, just call "python3 initialize.py"
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2023-05-25 09:57:15 +00:00
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2023-06-16 09:21:11 +00:00
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TODO: extend bot_mini_bringup, python scripts for simplyfiyng startup process.
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## Useful commands:
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2023-06-16 09:35:07 +00:00
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rosdep install --from-paths src --ignore-src -r -y
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2023-06-16 09:21:11 +00:00
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### Localization using predefined map and navigation
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don't forget to set transient_local in rviz to see the map
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ros2 launch bot_mini_bringup nav2.launch.py map_subscribe_transient_local:=true
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ros2 launch nav2_bringup localization_launch.py map:=/home/bjorn/Documents/ros_projects/cps_bot_mini_ws/src/bot_mini_bringup/maps/cps_save_map.yaml
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