vic_pinky

PC 설정

환경

• ubuntu 24.04
• ros2 jazzy

1. Vic Pinky ROS2 pkg clone

mkdir -p ~/vicpinky_ws/src
cd ~/vicpinky_ws/src
git clone https://github.com/pinklab-art/vic_pinky.git

2. dependence 설치

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

3. build

cd ~/vicpinky_ws
colcon build

ROBOT 설정

환경

• ubuntu 24.04
• ros2 jazzy

1. Vic pinky ROS2 pkg clone

mkdir -p ~/vicpinky_ws/src
cd ~/vicpinky_ws/src
git clone https://github.com/pinklab-art/vic_pinky.git

2. 가제보 패키지 삭제

cd vic_pinky
sudo rm -r vicpinky_gazebo/

3. dependence 설치

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

4. udev 설정

rulse 파일 복사

cd ~/vicpinky_ws/src/vic_pinky/doc
sudo cp ./99-vic-pinky.rules /etc/udev/rules.d/

udev 적용

sudo udevadm control --reload-rules
sudo udevadm trigger

5. rplidar 설정

참고: <https://github.com/pinklab-art/vicpinky_ws/blob/main/doc/lidar_setup.md>

6. vicpinky pkg build

cd ~/vicpinky_ws
colcon build

7. set bahsrc

echo 'source ~/vicpinky_ws/install/setup.bash' >> ~/.bashrc
source ~/.bashrc

Vic Pinky 사용 매뉴얼

Vic pinky 실행

ros2 launch vicpinky_bringup bringup.launch.xml

Map building

launch slam toolbox

ros2 launch vicpinky_navigation map_building.launch.xml

[ONLY PC] map view

ros2 launch vicpinky_navigation map_view.launch.xml

robot keyborad control

ros2 run teleop_twist_keyboard teleop_twist_keyboard 

map save

ros2 run nav2_map_server map_saver_cli -f <map name>

Navigation2

launch navigation2

ros2 launch vicpinky_navigation bringup_launch.xml map:=<map name>

[ONLY PC] nav2 view

ros2 launch vicpinky_navigation nav2_view.launch.xml

시뮬레이션

Vic pinky gazebo 실행

가제보 실행 및 vicpinky 스폰

ros2 launch vicpinky_bringup gazebo_bringup.launch.xml

(Optional) 멀티 vicpinky 스폰

ros2 launch vicpinky_bringup gazebo_multi_spwan.launch.xml namespace:=robot2 x:=12.0 y:=-16.0

Map building

launch slam toolbox

ros2 launch vicpinky_navigation map_building.launch.xml use_sim_time:=true

[ONLY PC] map view

ros2 launch vicpinky_navigation map_view.launch.xml

robot keyborad control

ros2 run teleop_twist_keyboard teleop_twist_keyboard 

map save

ros2 run nav2_map_server map_saver_cli -f <map name>

Navigation2

launch navigation2

ros2 launch vicpinky_navigation bringup_launch.xml map:=<map name> use_sim_time:=true

[ONLY PC] nav2 view

ros2 launch vicpinky_navigation nav2_view.launch.xml