Crate arci_ros2

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§arci-ros2

crates.io docs docs

ROS2 implementation for arci.

§Dependencies

§Install

sudo apt install ros-humble-nav2-msgs ros-humble-geometry-msgs # for navigation
sudo apt install ros-humble-ros2-control ros-humble-ros2-controllers # for ros2_control
sudo apt install ros-humble-tf2-msgs # for tf2
sudo apt install libclang-dev # for r2r

§Build

Build openrr with the feature ros2

source /opt/ros/humble/setup.bash
cargo build --features ros2

§How to use (navigation2)

§Install navigation2

Read here and install navigation2 and simulator.

§Launch simulator

ros2 launch nav2_bringup tb3_simulation_launch.py

§Run command line tools

§Send navigation goal via command line

Don’t forget to set the initial pose of the robot before sending the goal pose using the 2D Pose Estimate button of rviz.

./target/debug/openrr_apps_robot_command --config-path ./openrr-apps/config/turtlebot3_robot_client_config_ros2.toml send_navigation_goal -- -0.5 0.2 -1.5
§GUI to send velocity
./target/debug/openrr_apps_velocity_sender --config-path ./openrr-apps/config/turtlebot3_robot_client_config_ros2.toml

§How to use (ros2_control)

§Install ros2_control_demos

§Launch rrbot example and controllers

Launch rrbot example

ros2 launch ros2_control_demo_example_1 rrbot.launch.py

Then, inactive forward_position_controller and active joint_trajectory_position_controller.

ros2 control set_controller_state forward_position_controller inactive
ros2 control load_controller joint_trajectory_position_controller --set-state active

joint_state_broadcaster and joint_trajectory_position_controller should now be activated, and forward_position_controller should now be inactivated.

$ ros2 control list_controllers
joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster] active
forward_position_controller[forward_command_controller/ForwardCommandController] inactive
joint_trajectory_position_controller[joint_trajectory_controller/JointTrajectoryController] active

§Run command line tools

§Run ros2_control example of arci-ros2
cargo run --package arci-ros2 --example ros2_control --features ros2

§License

Licensed under the Apache License, Version 2.0.

Re-exports§

pub use r2r;

Modules§

utils

Structs§

Node
ROS2 node. This is a wrapper around Arc<Mutex<r2r::Node>>.
Ros2CmdVelMoveBase
arci::MoveBase implementation for ROS2.
Ros2CmdVelMoveBaseConfig
Configuration for Ros2CmdVelMoveBase.
Ros2ControlClient
arci::JointTrajectoryClient implementation for ROS2.
Ros2ControlConfig
Configuration for Ros2ControlClient.
Ros2LaserScan2D
arci::LaserScan2D implementation for ROS2.
Ros2LaserScan2DConfig
Configuration for Ros2LaserScan2D.
Ros2LocalizationClient
arci::Localization implementation for ROS2.
Ros2LocalizationClientConfig
Configuration for Ros2LocalizationClient.
Ros2Navigation
arci::Navigation implementation for ROS2.
Ros2NavigationConfig
Configuration for Ros2Navigation.
Ros2TransformResolver
arci::TransformResolver implementation for ROS2.