- This document serves as a guide for setting up a workspace for developing robotic software using ROS2. This workspace provides an environment for the development, building, and execution of ROS2 Workspace Packages for
Differential Drive Robot of Capstone Projects. - If you want to try to implement our library robot, please click
this link
- OS types :
Ubuntu 20.04 Focal Fossa (Recommended)orUbuntu 22.04 Jammy Jellyfish - ROS2 Version :
ROS2 Foxy Fitzroy - Library :
TURTLEBOT3 FOXY library
The workspace includes the following directory structure:
src/: Directory containing the source code of the packages.build/: Directory where files generated during the build process are placed (created after build).install/: Directory where built packages are installed (created after build).log/: Directory where build and execution log files are stored (created during use).python_files/: Directory containing the argorithm of the robot's path-planning and book label detection.
- You can download this workspace, and modify workspace according to your custom robot specifications.
- If you can't execute this workspace after clone this repo by error, please download these libraries below.
To create and initialize your workspace, execute the following:
mkdir -p ~/capstone_ws/src
cd ~/capstone_ws
colcon build --symlink-install
To create and build a new ROS2 package, use the following commands:
cd ~/capstone_ws/src
ros2 pkg create --build-type ament_cmake <package_name>
cd ~/capstone_ws
colcon build --packages-select <package_name>
export TURTLEBOT3_MODEL=custom
ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py
ros2 run turtlebot3_teleop teleop_keyboard
ros2 launch turtlebot3_cartographer cartographer.launch.py use_sim_time:=True
ros2 run nav2_map_server map_saver_cli -f ~/map
To run Capstone Robot ROS2 packages developed in the workspace for implementing our library robots, use the following commands:
. install/setup.bash
ros2 run micro_ros_agent micro_ros_agent serial --dev /dev/ttyACM0
ros2 run turtlebot3_teleop teleop_keyboard
ros2 launch turtlebot3_bringup robot.launch.py
/bin/python3 /home/jay/colcon_ws/publish-odom-tf.py
ros2 launch turtlebot3_cartographer cartographer.launch.py
ros2 run nav2_map_server map_saver_cli -f ~/map
If you encounter issues during the build or execution process, check the log files in the log/ directory to diagnose the cause of the problem.
This workspace is licensed under the MIT License. For the full text of the license, refer to the LICENSE file.