Crate arci_ros2

arci-ros2

ROS2 implementation for arci.

Dependencies

• ROS2 Humble
• r2r

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

• Clone ros2_control_demos
• Checkout the corresponding branch and install it
• Source install/setup.bash.

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.