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860 B
860 B
cps_bot_mini_ws
temporary ws for developing ros2 control on robot mini with odrive
needed repos are:
- https://github.com/bjoernellens1/odrive_ros2_control on branch humble-fw-v0.5.1
- https://github.com/bjoernellens1/rmp220_teleop on branch bot_mini
- https://github.com/bjoernellens1/ros2_cam_openCV
- https://github.com/bjoernellens1/bot_mini_bringup.git
For initialization, just call "python3 initialize.py"
TODO: extend bot_mini_bringup, python scripts for simplyfiyng startup process.
Useful commands:
Localization using predefined map and navigation
don't forget to set transient_local in rviz to see the map ros2 launch bot_mini_bringup nav2.launch.py map_subscribe_transient_local:=true 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