THIS REPOSITORY HAS BEEN ARCHIVED AND IS SUPERSEDED BY ROVERROBOTICS_ROS2

roverrobotics_ros2

About:

• This is a ROS2 wrapper to interface with roverrobotics' robots.
• Librover is required in order to use this wrapper
• This is being used for the development of the rover robotics mini on ros2

Installation instructions

1. Cloning this repository into your workspace

cd workspace/src/
git clone https://github.com/RoverRobotics/roverrobotics_ros2.git

2. Install Udev rules for robot

cd workspace/src/roverrobotics_driver/udev
sudo cp 55-roverrobotics.rules /etc/udev/rules.d/55-roverrobotics.rules && sudo udevadm control --reload-rules && udevadm trigger

3. Install shared library

cd ~/
mkdir library/
cd library/
git clone https://github.com/RoverRobotics/librover
cd librover/
cmake .
make
sudo make install 

4. Rebuild your workspace

cd workspace/
colcon build

5. Update env variables and configuration files

source install/setup.sh

6. Launch Robot (replace with your robot config.)

ros2 launch roverrobotics_driver <launch file name>

Launch Files:
<model>.launch.py: Launches robot configuration for specific rover robot. (i.e. Mini, Mega, Pro2, Zero2)
<model>_teleop.launch.py: Launches robot configuration with teleop controller enabled.
rover_slam_mapping.launch.py: Launches lidar and slam toolbox in asynchronous mapping mode(Requires slam package).
rover_slam_localization.launch.py: Launches lidar and slam toolbox in localization mapping mode.