orne-box

Platform hardware for autonomous robot.

• Purpose
• Design Data (Under Constructing)
• This project is derived from orne_navigation.

Reference

• orne-x (designed in 2017)

Install

1. Clone

ros2_ws/src で以下を実行します。

git clone https://github.com/open-rdc/orne-box.git -b humble-devel

2. Clone dependent repositories (wstool)

wstool は 必ず src 直下（例: ~/ros2_ws/src）で実行 してください。

cd ~/ros2_ws/src

For simulation

wstool init
wstool merge orne-box/orne_box3_simulation_pkgs.install
wstool up

For real robot

wstool init
wstool merge orne-box/orne_box3_simulation_pkgs.install # TODO: 実機向け install ファイルは後日追記
wstool up

3. Install dependencies

sudo apt install -y \
  libpcap-dev \
  ros-$ROS_DISTRO-navigation2 \
  ros-$ROS_DISTRO-nav2-bringup \
  ros-$ROS_DISTRO-turtlebot3-gazebo \
  ros-$ROS_DISTRO-robot-localization \
  ros-$ROS_DISTRO-pointcloud-to-laserscan \
  ros-$ROS_DISTRO-xacro \
  ros-$ROS_DISTRO-joint-state-publisher \
  ros-$ROS_DISTRO-laser-filters 

Simulation

Start simulation

以下のどちらかを選択して起動してください。

A. gazebo Classicで起動する場合:

ros2 launch orne_box_simulation box_cit3f.launch.py

B. Ignition gazeboで起動する場合:

ros2 launch orne_box_simulation ign_box_cit3f.launch.py

Start navigation

ros2 launch orne_box_navigation_executor play_waypoints_nav.launch.py

Real Robot

Bringup

ros2 launch orne_box_bringup orne_box_bringup.launch.py

Navigation

ros2 launch orne_box_navigation_executor play_waypoints_nav.launch.py

IMU calibration は後日追記予定です。