ellensohn/cps_rmp220_support
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Björn Ellensohn 2023-09-05 11:16:03 +02:00
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This package should be placed into your workspace src/ folder.
Alongside you must clone https://github.com/bjoernellens1/segwayrmp and https://github.com/bjoernellens1/segway_msgs to control the robot.
Additional packages needed are:
- https://github.com/bjoernellens1/rmp220_teleop
- https://github.com/bjoernellens1/rmp220_middleware
Go back to ws folder and colcon build --symlink-install && source install/setup.bash
### Launch files:
#### Launch Gazebo
ros2 launch cps_rmp220_support launch_sim.launch.py
#### Launch Robot operator (Only neeed for Camera and additional devices for now)
ros2 launch cps_rmp220_support launch_robot.launch.py
#### Launch robot controller
ros2 launch cps_rmp_220_support robot_controller.launch.py
#### Launch robot state publisher
ros2 launch cps_rmp_220_support rsp.launch.py
#### Launch rplidar
ros2 launch cps_rmp_220_support robot_lidar.launch.py
#### Launch teleop - from other package
ros2 launch rmp220_teleop robot_joystick.launch.py