uiabot-ros2

Package	uiabot
Git	git
Version	1.0.0
ROS 2	Galactic, Humble
Node(s)	control, mechanical_odometry, imu_tf_viz

Summary

The uiabot package contains nodes to control the UiAbot, calculate the mechanical odometry, and visualize IMU orientation in RViz. In addition, there are several files used by the UiAbot, such as parameters, robot description, and maps.

Usage

Install:

git clone https://github.com/DrDanielh/uiabot-ros2.git

Build:

colcon build --packages-select uiabot

Nodes

Package structure

uiabot
├── include         <- c++ header files
├── launch          <- ros 2 launch files
├── map             <- saved maps
├── params          <- parameter files
├── src             <- c++ src files
├── urdf            <- uiabot description and meshes
├── .gitignore
├── CMakeLists.txt
├── README.md
└── package.xml

launch

teleop.launch.py
- Control system.
- The teleop_twist_keyboard node must be ran on the pc.
teleop_perception.launch.py
- Remote control using the computer keyboard.
- IMU and LiDAR.
- IMU orientation visualization
- Robot state publisher.
- Wheel TF publisher.
- The teleop_twist_keyboard node must be ran on the pc.
teleop_slam.launch.py
- Control system.
- Mechanical odometry.
- IMU and LiDAR.
- Sensor fusion (EKF).
- Robot state publisher.
- SLAM.
- The teleop_twist_keyboard node must be ran on the pc.
localization_navigation.launch.py
- Control system.
- Mechanical odometry.
- IMU and LiDAR.
- Sensor fusion (EKF).
- Robot state publisher.
- Localization and navigation (Nav2).
slam_navigation.launch.py
- Control system.
- Mechanical odometry.
- IMU and LiDAR.
- Sensor fusion (EKF).
- Robot state publisher.
- SLAM.
- Navigation (Nav2).

map

map_hallway_c2
map_mezzanine
map_mezzanine_2

params

ekf_params.yaml
- Parameters for the ekf_filter_node node.
nav2_params.yaml
- Parameters for the nav2 package.

urdf

uiabot.urdf.xacro
- Robot description in urdf format with xacro format wrapper.
- Parsed into the robot_state_publisher in the launch files.