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create3_mapper

ROS2 package for mapping capabilities with the iRobot Create 3 robot. This package publishes the robot's path using the Marker message type. This code is loosely based on the ros2_explorer package.

Building the Package

  1. Create a workspace (if you don't already have one):

    mkdir -p ~/ros2_ws/src

  2. Clone this repository into your workspace's src folder:

    cd ~/ros2_ws/src
git clone https://github.com/mattsblack/CSC212-Project.git

  3. Install dependencies:

    cd ~/ros2_ws
rosdep install --from-paths src --ignore-src -r -y

  4. Build the package:

    colcon build --packages-select create3_mapper

Sourcing the Setup File

After building the package, you need to source the setup file to use it:

source ~/ros2_ws/install/setup.bash

To automatically source this file every time you open a new terminal, add this line to your ~/.bashrc file:

echo "source ~/ros2_ws/install/setup.bash" >> ~/.bashrc

Usage

  1. Launch the create3_mapper node:

    ros2 run create3_mapper create3_mapper.py

  2. Launch RViz to visualize the robot's path:

    ros2 launch create3_mapper rviz_launch.py