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warehouse_project

2023-12-29.10-34-56.1.1.mp4

Mandatory

  • Start the simulation in ROS1
source ~/simulation_ws/devel/setup.bash
roslaunch rb1_base_gazebo warehouse_rb1.launch
  • Start the ROS1 bridge
source ~/simulation_ws/devel/setup.bash
roslaunch load_params load_params_base.launch
source /opt/ros/galactic/setup.bash
ros2 run ros1_bridge parameter_bridge

1 Mapping Launch files

  • Start mapping
ros2 launch cartographer_slam cartographer.launch.py
rso2 launch cartographer_slam start_rviz_with_arguments.launch.py
ros2 run nav2_map_server map_saver_cli -f NAME
  • Providing map
ros2 launch map_server map_server.launch.py map_file:=warehouse_map_sim.yaml use_sim_time:=True
ros2 launch map_server map_server.launch.py map_file:=warehouse_map_real.yaml use_sim_time:=False

2 Localization Launch files

  • Start localization
ros2 launch localization_server localization.launch.py map_file:=warehouse_map_sim.yaml use_sim_time:=True
ros2 launch localization_server localization.launch.py map_file:=warehouse_map_real.yaml use_sim_time:=False

3 Navigation Launch files

  • Pre approach
ros2 launch path_planner_server pathplanner.launch.py use_sim_time:=True
ros2 launch path_planner_server pathplanner.launch.py use_sim_time:=False

4 NAV2 app Launch files

  • RB1 working on the warehouse
python3 move_shelf_to_ship.py --use_sim_time True
python3 move_shelf_to_ship.py --use_sim_time False

Others

ros2 run tf2_tools view_frames

ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args --remap cmd_vel:=/robot/cmd_vel
ros2 topic pub /elevator_up std_msgs/msg/String "{}"
ros2 topic pub /elevator_down std_msgs/msg/String "{}"

rosgraph.pdf