Robot AI Lab

Save a map while the robot is moving : ros2 run nav2_map_server map_saver_cli -f ~/my_map move a robot by using the command topic of cmd_vel : ros2 run teleop_twist_keyboard teleop_twist_keyboard ros2 run rqt_robot_steering rqt_robot_steering save a map as lifelong : ros2 service call /slam_toolbox/serialize_map slam_toolbox/srv/SerializePoseGraph "filename: 'my_lifelong_map'" my_mapper_params_l..

For example, consider the following packages that might reside in a folder named ~/ros2_ws/src/my_robot : my_robot my_robot_base my_robot_bringup my_robot_description my_robot_gazebo my_robot_kinematics my_robot_localization my_robot_manipulation my_robot_moveit_config my_robot_msgs my_robot_navigation my_robot_teleop my_robot_tests my_robot_rviz_plugins Let’s write the purpose for each package ..

ros2 launch -s ros2 launch --show-arguments Example : ros2 launch slam:= True References [1] https://automaticaddison.com/how-to-display-launch-arguments-for-a-launch-file-in-ros2/

examaple.launch.py # example.launch.py import os from ament_index_python import get_package_share_directory from launch import LaunchDescription from launch.actions import DeclareLaunchArgument from launch.actions import IncludeLaunchDescription from launch.actions import GroupAction from launch.launch_description_sources import PythonLaunchDescriptionSource from launch.substitutions import Laun..

Namespace : http://www.ros.org/wiki/xacro" name="my_robot"> Usage : # Constants 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 means 1 2 3 4 5 6 7 8 9 10 11 12 13 # Simple Math means # Macro Simple Macro 1 2 3 4 means 1 Parameterized Macro 1 2 3 4 7 8 1 means 2 3 4 7 Parameterized block Macro 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 means 2 3 4 5 12 13 14 Examples : # Definition of xacro # Usage of ..

# Multi-Machines : Machine 1 : RPi4B Ubuntu20.04 ROS2Foxy Machine 2 : WSL2 Ubuntu20.04 ROS2Foxy # Prerequisite : the same ROS2 distribution No firewall on the network the same network # check if the machines can reach out to each other : I am working on to solve problems ... Reference [1] https://roboticsbackend.com/ros2-multiple-machines-including-raspberry-pi/ ROS2 Multiple Machines Tutorial (..

my_display.launch.py import launch from launch.substitutions import Command, LaunchConfiguration import launch_ros import os def generate_launch_description(): pkg_share = launch_ros.substitutions.FindPackageShare(package='my_pkg_cpp_urdf').find('my_pkg_cpp_urdf') default_model_path = os.path.join(pkg_share, 'urdf/my_robot_07.urdf') default_rviz_config_path = os.path.join(pkg_share, 'rviz/urdf_c..

ros2 pkg create --build-type ament_cmake my_pkg_cpp_urdf my_robot_05.urdf http://ros.org/wiki/xacro"> my_display.launch.py import launch from launch.substitutions import Command, LaunchConfiguration import launch_ros import os def generate_launch_description(): pkg_share = launch_ros.substitutions.FindPackageShare(package='my_pkg_cpp_urdf').find('my_pkg_cpp_urdf') default_model_path = os.path.jo..

Transform Tree Static Transform Publisher using tf2 Verifying using tf2_echo Verifying using Rviz2 Verifying using tf2_tools Verifying using topic [Reference] [1] https://navigation.ros.org/setup_guides/transformation/setup_transforms.html Setting Up Transformations — Navigation 2 1.0.0 documentation There are two important ROS REPs which we highly suggest for you to check out. These documents d..

ros2 launch my_pkg_urdf my_urdf.launch.py rviz2 Save Config As : my_rviz2_default.rivz Panels: - Class: rviz_common/Displays Help Height: 78 Name: Displays Property Tree Widget: Expanded: - /Global Options1 - /Status1 - /RobotModel1 Splitter Ratio: 0.5 Tree Height: 610 - Class: rviz_common/Selection Name: Selection - Class: rviz_common/Tool Properties Expanded: - /2D Goal Pose1 - /Publish Point1..