By using this package, you can achieve below functions by sending topic for your 2D AMR:
- launch slam algorithm
- save map
- load map files and launch amcl
It is encouraged to use legubiao/ros2d-quasar as well.
-
clone the repository
cd ~/ros2_ws/src git clone https://github.com/legubiao/amr_rctk
-
rosdep
cd ~/ros2_ws rosdep install --from-paths src --ignore-src -r -y
-
python node
chmod +x scripts/mapping_node.py
-
build
cd ~/ros2_ws colcon build --packages-up-to amr_rctk --symlink-install
Tested on Ubuntu 22.04 ROS2 Humble.
Warning: Webots still under development for ROS2 Jazzy, can not run properly (2024.11.18)
- Install Webots, just download the stable release
.debthen install. - Install Webots-ros2
sudo apt-get install ros-humble-webots-ros2
- Test the turtlebot3 simulation
ros2 launch webots_ros2_turtlebot robot_launch.py
- Launch the amr_rctk
source ~/ros2_ws/install/setup.bash
ros2 launch amr_rctk turtlebot.launch.py