citylab_project | Ros2 with Turtlebot3

This work include topics, service and action code in ROS2.

Mandatory

• For compiling

cd ~/ros2_ws/ ;colcon build ;source install/setup.bash
cd ~/ros2_ws/ ;colcon build --packages-select custom_interface; source install/setup.bash
cd ~/ros2_ws/ ;colcon build --packages-select robot_patrol; source install/setup.bash

• For sourcing only

cd ~/ros2_ws/ ;source install/setup.bash

Tasks

• topics

ros2 launch robot_patrol start_patrolling.launch.py

• service

ros2 launch robot_patrol start_direction_service.launch.py
ros2 launch robot_patrol start_test_service.launch.py
ros2 launch robot_patrol main.launch.py

• action

ros2 launch robot_patrol start_gotopose_action.launch.py
ros2 action send_goal -f /go_to_pose custom_interface/action/GoToPose "goal_pos: x: 0.2 y: 0.3 theta: 40.0"

Annexes

• Simulation

source /opt/ros/noetic/setup.bash
source ~/simulation_ws/devel/setup.bash
roslaunch realrobotlab main.launch

• Bridge

source ~/catkin_ws/devel/setup.bash
roslaunch load_params load_params.launch
source /opt/ros/foxy/setup.bash
ros2 run ros1_bridge parameter_bridge

Other for testing

ros2 run teleop_twist_keyboard teleop_twist_keyboard