ADLINK ROS 2 Turtlebot (Demo launch)

Provides ROS 2 launch file for turtlebot applications.

Features

• ydlidar + slam_karto (ros2 ver.)

Developer

HaoChih, Lin (haochih.lin@adlinktech.com)

Dependencies

From ADLINK-ROS github:

• ydlidar (ros2 ver.) https://github.com/Adlink-ROS/ydlidar_ros2
• slam_karto (ros2 ver.) https://github.com/Adlink-ROS/slam_karto_ros2

From OSRF ROS 2 github:

• turtlebot2_drivers (ros2 ver.)
• teleop_twist_joy (ros2 ver.)
• joy (ros2 ver.)
  Installation steps: https://github.com/ros2/turtlebot2_demo

Compile

$ cd AMENT_WS
$ ament build --isolated --symlink-install --parallel --only adlink_ros2_neuronbot

Execute

Open a new terminal (or source your ament_ws again)
$ launch ros2 pkg prefix adlink_ros2_turtlebot/share/adlink_ros2_turtlebot/launch/slam_karto_demo.py

Visualization

Since the current version of rviz2 dose not support "nav_msgs/MapMetaData" msg type,
the best way to visulize the mapping result is still through the "ros1_briage".
(Remember to install ros1_briage in advance)

• Open three new terminals (source both ROS 1 & 2 setup.bash)
• $ roscore
• $ rviz
• $ ros2 run ros1_bridge dynamic_bridge --bridge-all-2to1-topics

License

Apache License 2.0 (Copyright 2018 ADLINK Technology, Inc.)